diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fd41a82c1b822ed4b331c7c3c834e9711fddd4ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/episode_9_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.38020950664151054, + 0.06981891443260367, + 0.9993648734861594 + ], + "current_z": 0.9993648734861594, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1427783064729491, + "gripper_z": 0.9989176735591379, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3755305233228521, + 0.06519607005624009, + 0.9989176735591379 + ], + "object_minus_gripper": [ + 0.004678983318658458, + 0.00462284437636358, + 0.00044719992702157985 + ], + "object_to_gripper_xy": 0.00657750522799948, + "object_to_gripper_z": 0.00044719992702157985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.38020950664151054, + 0.04561777620118901, + 0.9993648734861594 + ], + "finger_b": [ + 0.3687609633541724, + 0.06981891443260367, + 0.9993648734861594 + ], + "finger_midpoint": [ + 0.3744852349978415, + 0.05771834531689634, + 0.9993648734861594 + ], + "object_minus_finger_midpoint": [ + 0.0057242716436690655, + 0.012100569115707331, + 0.0 + ], + "finger_gap": 0.02677245291522791, + "fingertip_max_gap": 0.09283435606424609, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013386226457613955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9993648734861594, + "object_top_z": 1.0445995122658878, + "finger_top_clearance": 0.04523463877972833, + "fingertip_min_top_clearance": 0.013570391633918499, + "object_projection_between_fingers": 0.8171377183961794, + "object_to_finger_line_xy": 0.01034898742832826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048917178032123046, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.8062622377565902, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 174, + "max_stable_success_frames": 174, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.29965374488491636, + -0.1141245533062511, + 0.7611063888054764 + ], + "gripper_position": [ + 0.306293184719887, + -0.13023739330938455, + 1.0320801339065289 + ], + "target_minus_gripper": [ + -0.006639439834970617, + 0.016112840003133455, + -0.27097374510105243 + ], + "held_position": [ + 0.31100716019585295, + -0.12564186899538335, + 1.0324392059600462 + ], + "held_minus_target": [ + 0.011353415310936588, + -0.011517315689132251, + 0.2713328171545698 + ], + "held_minus_gripper": [ + 0.00471397547596597, + 0.004595524314001204, + 0.00035907205351737304 + ], + "xy_dist": 0.01742715623068699, + "held_xy_dist": 0.01617246424963559, + "held_gripper_dist": 0.0065931283354870324, + "max_held_gripper_dist": 0.006595511687713842, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0324392059600462, + "required_height": 0.7911063888054765, + "gripper_z": 1.0320801339065289, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 121.31416588656053, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.395580618754952, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1137166353712833, + "max_source_tilt_deg": 89.90458271496524, + "source_upright_tilt_deg": 3.086524653440877, + "max_source_upright_tilt_deg": 89.92451415322894, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1137166353712833, + "source_upright_return_tilt_deg": 3.086524653440877, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.2351741790771484e-08, + "max_target_xy_drift": 1.301187962038292e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.2997, + -0.1141, + 0.7611 + ], + "controller_target_position": [ + 0.2997, + -0.1141, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0003, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.2987, + -0.14, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0688, + 0.066, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009901125963716617, + -0.0003220985355485385, + -0.00188821511104589 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0867460427690836, + "source_return_step_error_deg": 2.1139238683889747, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0759032430809072, + "source_return_best_wrist_position": -1.6350877285003662, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6350877285003662 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.2997, + -0.1141, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.2997, + -0.1141, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0003, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.2987, + -0.14, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0688, + 0.066, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009901125963716617, + -0.0003220985355485385, + -0.00188821511104589 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0867460427690836, + "pour_controller_source_return_step_error_deg": 2.1139238683889747, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0759032430809072, + "pour_controller_source_return_best_wrist_position": -1.6350877285003662, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6350877285003662, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.01742715623068699, + "valid_pour_held_xy_dist": 0.01617246424963559, + "valid_pour_held_gripper_dist": 0.0065931283354870324, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0324392059600462, + "valid_pour_source_tilt_deg": 2.1137166353712833, + "valid_pour_source_upright_tilt_deg": 3.086524653440877, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.2351741790771484e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.31100716019585295, + -0.14952372753567253, + 1.0324392059600462 + ], + "valid_pour_held_grasp_finger_b": [ + 0.2999918599367589, + -0.12564186899538335, + 1.0324392059600462 + ], + "valid_pour_held_grasp_midpoint": [ + 0.30549951006630593, + -0.13758279826552794, + 1.0324392059600462 + ], + "valid_pour_held_grasp_object_position": [ + 0.31100716019585295, + -0.12564186899538335, + 1.0324392059600462 + ], + "valid_pour_held_grasp_finger_gap": 0.026299810020918024, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02428444663826817, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03969313597426746, + -0.9985493711494786, + 0.03638142841491032 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005992760263699306, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349523345765829, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.31100716019585295, + -0.14952372753567253, + 1.0324392059600462 + ], + "held_grasp_finger_b": [ + 0.2999918599367589, + -0.12564186899538335, + 1.0324392059600462 + ], + "held_grasp_midpoint": [ + 0.30549951006630593, + -0.13758279826552794, + 1.0324392059600462 + ], + "held_grasp_object_position": [ + 0.31100716019585295, + -0.12564186899538335, + 1.0324392059600462 + ], + "held_grasp_finger_gap": 0.026299810020918024, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02428444663826817, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03969313597426746, + -0.9985493711494786, + 0.03638142841491032 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005992760263699306, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349523345765829, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.37093788917119336, + 0.038094254355242094, + 0.7565866728951329 + ], + "target_position": [ + 0.3564102204323084, + 0.06747172079353261, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.03277329237839343, + "xy_threshold": 0.08, + "gripper_dist": 0.2271526503694489, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866728951329, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551509784542387, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08954629513921052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1909802946255392, + "release_required_pad_clearance": 0.05477314756960526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.597819767889157, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 187, + "max_placed_release_frames": 187 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3081065072545916, + -0.11751265310907406, + 1.1642046215704045 + ], + "current_z": 1.1642046215704045, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3030982327649281, + "gripper_z": 1.1554454885957233, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3039009504753669, + -0.12192297802247172, + 1.1554454885957233 + ], + "object_minus_gripper": [ + 0.004205556779224684, + 0.004410324913397656, + 0.008759132974681227 + ], + "object_to_gripper_xy": 0.0060940687282815195, + "object_to_gripper_z": 0.008759132974681227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3081065072545916, + -0.14090067832517322, + 1.1642046215704045 + ], + "finger_b": [ + 0.29769886144050267, + -0.11751265310907406, + 1.1642046215704045 + ], + "finger_midpoint": [ + 0.30290268434754714, + -0.12920666571712364, + 1.1642046215704045 + ], + "object_minus_finger_midpoint": [ + 0.005203822907044464, + 0.011694012608049573, + 0.0 + ], + "finger_gap": 0.025599195590885526, + "fingertip_max_gap": 0.09281106158686728, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012799597795442756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642046215704045, + "object_top_z": 1.2145902149427326, + "finger_top_clearance": 0.050385593372328064, + "fingertip_min_top_clearance": 0.015115678011698419, + "object_projection_between_fingers": 0.8347077957650525, + "object_to_finger_line_xy": 0.009508669203137267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890553079343364, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.097374342127719, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 340, + "max_stable_success_frames": 340, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.2863555200997619, + -0.40769027969083427, + 0.8515395869580863 + ], + "target_position": [ + 0.28003796293668154, + -0.408753343086455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006406374348404611, + "xy_threshold": 0.08, + "gripper_dist": 0.18378377881471286, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395869580863, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577931950058601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08642463001561511, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15124553092140383, + "release_required_pad_clearance": 0.053212315007807556, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4466926182618713, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008814513683319092, + "max_z_decrease": 0.008814513683319092, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504463343686599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008814513683319092, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021075259427865558, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008814513683319092, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00881539845540197, + "max_button_displacement": 0.12, + "button_start": [ + 0.13573789596557612, + -0.4650148153305053, + 0.7768088579177856 + ], + "button_final": [ + 0.13573789596557612, + -0.4650148153305053, + 0.7768088579177856 + ], + "closest_ee": [ + 0.13677646919789607, + -0.4663388911970644, + 0.8037581687258406 + ], + "closest_button": [ + 0.13564547896385187, + -0.46498107910156244, + 0.7687581181526184 + ], + "closest_ee_minus_button": [ + 0.001130990234044199, + -0.0013578120955019535, + 0.0350000505732222 + ], + "button_min_z_position": [ + 0.1356206834316253, + -0.46497169137001026, + 0.7679943442344666 + ], + "min_active_finger_to_button": 0.14476768983896587, + "closest_active_finger": [ + -0.004291921854019165, + -0.4520930051803589, + 0.8106977343559265 + ], + "closest_active_finger_button": [ + 0.13573397696018213, + -0.4650073945522308, + 0.7762935161590576 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1400258988142013, + 0.012914389371871893, + 0.034404218196868896 + ], + "min_contact_pad_to_button": 0.021075259427865558, + "closest_contact_pad": [ + 0.1356206834316253, + -0.46734744166939596, + 0.7889352699653602 + ], + "closest_contact_pad_button": [ + 0.1356206834316253, + -0.46497169137001026, + 0.7679943442344666 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023757502993856927, + 0.020940925730893678 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 6658796726011171620, + "physical_seed": 2487175486347543466, + "layout_id": "layout_00030", + "step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557, + 3957288070049760871, + 4471394649374130754, + 7646082623233218622 + ], + "workflow_spec_digest": "555bd7e15f40d5d86b41cb429a380fad68141f2068928a5f41bb5858fb3b82ec", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "023bcd0f42c37233ccc145cd73fb65623ddb1aa16ca1183e4910afda0a1d0082", + "visual_seed": 3694760138451893639, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 3188608099509189937, + 4949622282959698655, + 6590206372818194557, + 3957288070049760871, + 4471394649374130754, + 7646082623233218622 + ], + "runtime_workflow_digest": "398f7b3345fd2ee34307d9dd108dc14347d1661307ceb7d0b31699816894fa85" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..692470e35f3c71e4b33ebf0307ca6beea9c47627 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00030/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s06_polplr_htc_00030", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e249fb67c92483b9d81e7e5de36f0ac81bf8b129 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c40922e79f2782d5d541a56f3789f1aa6cfe067b31fdbb1ef16f11de0f8723dc +size 10973819 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6f625d39dafe65e0b75121b882319d4df96f583 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5a256ce3c7716461096b2933552f4c1855617358370af0327088c6f055e3d105 +size 9501676 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df14d80f004dd17d8fa01dcd16a0cb3cfd271f66 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7d892514e16e6b54d09708c90b2a79c85543250a8fc1c6bb6220b117c61dcea0 +size 10674652 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dbfbdbe23c803f79f22f855589dce2e0530ea3ad --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0b5628fba1c2fda5ebc91eec7bf82a49b6d02f883dc558561d5a3ed7edb5daab +size 9668544 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b09d9b30314f6d23a657cb667a0541944236f9b3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:edaf655b289462a434964087cf636d8d082c7db46ee9a1fc74853dacfcaeb9fc +size 8083865 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2821aeb59586333d5165f89c665468d9978f4071 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:950561f6eee8171671848f06908e0aa81606d4b9f85b44a3bda3f8cff04abeef +size 8886252 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67bebe00c048f5d9fa318eba89afb768f0fdadb5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4e8e435876ddc48eb3c18d61a4729171e20df7bf4947dbec8d4f5d26ae9ba888 +size 13357215 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f39e3bdb5ea08312d53fbbace8c9d8993092dd98 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e9d8f7bb51f60b26410de5f2422592e56a5826a36b74670f6b4e7b88067881d +size 8938468 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cfd18c50d41de262b92dc1993f0f963e6754f622 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6f412bee29a9eef34f332299eb81881b8c9d6fb5ca6a8ebdcf841dce3b20888 +size 9414799 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..abcf1b1517861c6cae66cc90a146d57282ba9cd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f18ad50d095d8f007ba0f214f74e0c71c0de7c4af98550dde5c8eb9117f021a6 +size 11239696 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d96a45ee761d6241854bd8225461b2cb04a75bef --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9ffa97d8034c1ce9be64216f5f0abbb5988f9550fd7aadb59d7f9c63923e4dd8 +size 9521099 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7657f70549e4e266e60f2367a96d99c8bd34cfe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f5c8f9b463362daf825f040cfee78db056ef762fca4c949b3bd648de2df340b1 +size 8352648 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2e4088e29cb3a17241af92c9b0092b0cc14b4da5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0c69df6cf80cae8a1b21b226e7ac18f790a03f43ab099330b56d38eddc18e7ea +size 9134170 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cd9198970e36bf02d746f71bcf0f5dc575f50d96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7911f8fe82eb88e0e0dd386caa5959bdb60820a99ec904767e013c00af7f6e66 +size 11258226 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1d0a4e6166f8dcf7139560d56683bcc0754d3050 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1321bdfd92a199877f68fbbe9dc8d448536eebc1caf719d76a705199a3a78696 +size 10636710 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bb2129dff3389bb9877b0de1f1ea568c3c4e1fd5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9159a10a7f698c21ef9ca0d1f86248dcd2074ffa8b5cc6e15bf7dfe1af922021 +size 7823472 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a6426d100d3985c3f3ef95990000780e9c8d06e2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9c705e290254f1a939c25acd96758202b5666bf27cf3708edcea05bb7197d7e6 +size 7813091 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f400588d6fe37a287b3b38251f98d36424ea9a6b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2c523e32711a624be6434a3ba895d2000bc05c616b8b91232688ae48ab108d46 +size 8626596 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a1075b42525e5932229a1776ca1e10dcc0f1764c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:12c23eb9bd10124155a4e7080af86560e4b203341eca1b6a34bf8c93eb844259 +size 9679191 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..098d6183d5e0dd0fc33ad0848ad43d86734eb4a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7606f6bc78eb1a669bbd5a10ca72a2c634e587d49905a1555e4ec31e9128733 +size 10772969 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3072ebd5c125b506043b24325ab36acf3584cd63 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3bd868f2a1cce25b07888afb6ce107ead0fb056dbb655016bb633a270011c8db +size 10096660 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd7ec9d78815a8b4033eb55a946fa2cd0c9d4817 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11239262c39a8ea0f2f727dfe9c8fd1b2d892f96f654f641acf123eb3876099c +size 8789652 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c16fc132c346cb1dcb31fc5b6ccfa0867dd0375 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8e6e63258066dcea41c716352a520ad8e5ac6e64eb824f350d8d6c3b7de49af +size 10750598 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..41758d79a80df6aa74b638cb06180a2a329c8eb9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:316fc8df11129b1db77be8afec8f5cd5472300918e598a4b6bdd4fe31977104c +size 9293369 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..63bc5549b131e9384ec80fc09fc5134f928f1c38 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:32f6cbeffc882c7697b1bc5432145fec1a1bf0a535b900f30fe93f7c77168d27 +size 8455952 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0ed02281b0c13e519a91a89a56715ff88dfe0530 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:06b75698d7cd8fd6ed215c36307a1082f40f2b0c58765ebea683545d8621f0e4 +size 10230224 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0c5de6c529180492dd7878cd7432d3901acae2c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:acbc2918baf60a20002528da33bb221b40feca2f92e419d7560825edead8ab5d +size 13364684 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..74cb7c8535f4393f500cab8e346952ef7bca5029 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f42034588cd29adac2c6c661dd83d23751b6424fdaf6d9179a3fcf21ebac9f7 +size 7256348 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f22596e7ff144826be73c7f831c25ed859bbf81 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a5c2eb78f4b258520d8c9967f9233639209238b0d8e84ec955394c8bc9532c5d +size 10822312 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8807c4e6a5742004af5c261572b8f833a9b734ed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5eb52d41ef514f603880f1dffad6319a970da7be3672c42894eff1dc0cc073e +size 10699724 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8721bd402680765a5f777b268b0431d151fd3832 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3205526ebe9ab9f6528e87c72669ac442f65aa38c6bd8f772e86b14188a6f52b +size 10912365 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2d102f0a4f10bfa710e30b67f12e43fbd51afc4b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a9ade21baa0082ab9b8f99facc717c23c6f54237612f8eb5b309601edc23356 +size 11336867 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8e3778cdef222258e49845584a9c7020154926cc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:692cab207b82e3d5632b6075c8b5bb267f83599473cf47051b41d6a0326b05a9 +size 12160354 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..140ec6bd55d63dbd00b7015bee1cacdceef9122f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:eea77690075fab8fdb94f8f28ca0ca3a87d50fa86d72c0d36bf406bc6a43b7de +size 8250595 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c6353e7b151bb6f622a3625be5be47ef6aae271 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e97bb43c7be5a3c11c93b25f55fc9e33b193ef45f36049ba6229f18786c27eff +size 8428234 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e8e325d1fb566eca10df15dfea29b44d32a16c9b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b1fa04cb2e00f4935cda0940596cbe4086622cf9478bbc37ee45ea0e4b7f76a +size 10753772 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..26450119e85a9b5fa553dfd68ad4da1a7666da7f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e3b09a54e6f616378b8b6600d7139e16359ff9919c1517a8efb5abea92567bad +size 9952497 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f650b29356805394b463ceef703b179f7bec0cb3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:206c83ca30dd8a9c37e4760dbc57fb508efd75451248c9c847246807c3b46026 +size 9008301 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..211d79fbd745391076b36051b7a6f22d5bff1770 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:510d040a46aec80f75a46ec1000fb5ac639aec43411f272d1e69d21d00d8be96 +size 9518136 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..adcdde028fcb32b5911c96f8a4b6fde363f505c9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a54f209d185333faa74d0192ada92a9b10a159e62871e4be6000d2e055048319 +size 9510896 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c66c17107fbe7b9534a6f3530a007c6d1b1bfa01 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a28e554cb5882a9c0f25997614745ad895f3396067cfdc276661e3a08d67bc83 +size 11973310 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e976b331f49f63d977febd38363a868a5f74deec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:84058df7acba4c09c9f09caeef46c08c62a5af20e89e4dcd2b6b948d7b5dc2f5 +size 8483739 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..32bb94dab5aaad6d47076800af870716a7ac9d70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:54092feb3ed5bca3f3fcbba43049280aeab148d03aa35ea37c1f1cbdc4190cac +size 9861735 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..da9f0d6aa63da6ef6162f5d7636cac579f7d6b84 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:30ee3e4f62007a9888c9d5b3404f0d006445224761d7f1bf90440a580247346e +size 7775101 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44eddd1e921165863af2ba1c172bd0796e577688 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d03771dcb0b2769a9456195a7c1e76e6d517bbb2c0dcd1ba105f3494a80d768f +size 10200409 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c184a097f12d70879422eba3e7e4229ed4dfadf5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:096d51d888e31b60cecfe3909bdbaaee3f9b095c7b6a38fdbc0b598818bf4070 +size 7127313 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c083a63918699973d5b6e67e19e6bb552f18e2bf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:230b2b99b186d99eec983c11a4f1acd89c138d2ee1245ede21b9cd7b2636deae +size 9559541 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..67fe1720517fd84ca45d447fd57369069afdc442 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d7f611613d0c92e0e1306fac0bfc9b948861e0224d701d3c17f0853a12ceae6d +size 10173337 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c2346266832dcdcfc8de6c4e03c114991244e0e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcd8a66bd2bbc74e832da331b0d4fcd8417dd368cd4babadd7fff2183bc073dd +size 9383024 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..31c5351639eaf02fffd790ec960ea97be9976cec --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:de855cfdb476913f5ee4022f38acdd5a2bc5da4ea8657b004f2fed5d0c7fc0e4 +size 11204741 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..65550696b4f37cea7db1aeec440bc892c4706fe0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:592a12dbcc923d1622905181ab822dd8e5db9c7bdaf19eba7111ef2e777e6d63 +size 10900114 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71bbbbd6192d4fa6589be049fe8ae83737048bda --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7c581ec45a3191f291d3e488c013e5f484dea0577c01e28e76fb865dd4febed +size 11070139 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05dcdbff9c0f0563c74be9b0994fee7bd4f463b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7474b9055261941bfa11b6909d1f44ed644982151cfabd6d7b7e6e6cd6300ec +size 7997348 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d6b9b372b43e79521ef701862f91bd5653cdb32e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:63924d55ef58e271f5ccf2e7df15d58ff94d9a9bf1a676a07bf9174e716ff9b5 +size 9663781 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..df8ff58157ec9d43d7522a4cd6292c358b578498 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c652ce9d21a29273f1fdd7663f001dff5151f785a4fcb4b37105902f6b056ded +size 8607146 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3c4c1dc7e066b7ec44a8f75454652625196734ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d8c2eb598efd03cbc291534578c6afaeba32d6a8f8b252f933334ac9abee16ac +size 9570492 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7e65f2ec0510bca2388d11867f564312f4cc9906 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4a69ebed0ce9bab5b5ce7b278eaccefb6b03e93682749713743bb315676836a3 +size 10452330 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b137b94576261e2c149ff71e491c0c820c1940ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6cb5f7cbdd94072b92690066b813481db148143961e660306e82472546f1cec9 +size 8606217 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..39da186841d0ef3c5c0effea954cfdb1fd0c1ebb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64456e5864bcb0d1990387beb77ec7b7befd0d6d95b0d0d323e52e4dee95ef0c +size 10473051 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15d8a9a72d4f56bae0ac5e316ef93952b17b97b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f72040340197f68d028bcdc62eda9195e6a9002938d11d835834235c22c382fe +size 11311353 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..afa9cde7183ef1c6c8c0d410cea39db850978a79 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c35e1d469356259482907ffae9b734a2e7291d54779b98555e1f53170f1e52fa +size 9208764 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..09dce72237ea70c84fedc9b557321766c8c209d1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:774716b761bbb11f08229c98ef45b34c23414bbf8fe6dd77a67da84e3a9746fe +size 9190013 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8c14e354dcbafa9a0e17e3b8e85b34303a50db55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7ebf91071e6ffb5c44aef6fac2d017ceae0d99d834ea73155409d3e9777d6a93 +size 9123113 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6985ed5e9d37275bbac82173170c36b0f75ad309 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8b5ef939b07319463b9504f89052076533ef72664427cab4d2e984bc948d7e0c +size 11171424 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c5823b34cfcdff580a1e5882543388c9ddfafb6b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:566c3d67c7f00f4c7b879b7bd73d7b0665089eea0e0e6c64068e5d357a1be81a +size 8762379 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..082542a52dd2672f47ce5d6dd554dc1d583a2ef9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f00c60f0c37d234ad9293fb8610f8b6a3867acbb2423dd74980f40934bda2fcd +size 10044849 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89880e6526360a6860b578028f61600b82eee5a6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:aecff2cd7058a229e176432da5cf0e60624ee332bd514517bda8c8fb78458e68 +size 9288196 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..bd6c3b311cf45e28bebb5c642e3545f0133daae7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ed754973d3d28c5738dc63f79e3216fab37647b6943e959dabdc2cf230255633 +size 11623471 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f65d004a22b2e9437c1777c04ec201546ac32f7a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c5de1cc37f1cadecfd6d08dfd84ed6ce914d5ba855777f2818a6ba93fc96eb54 +size 12646800 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4355129f2d9369473d6604544e7a251be8f3eae5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e06fbcc8f4d58e1b1388685aafb293cb70caa76431420a7efe9f83f5801a03f3 +size 9767298 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d9f8b4e4f0c775715376d43d45a1fee2bddf1f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:11ea1eed288d04402bf82512f216be9eba707fcfd9a55abf4818bbc059e35b9c +size 7934851 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5832d5e3583bf3299ac5970430d7633850204419 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2703c86f40b9706484dfdd705d8b07984200e3d94fb4c65bca525f24f5209b77 +size 8573595 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d701866670d9bf4612f5dbb244ceffe55142cb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e6e973c6e4baa038cc378d3a4c2f11a347654cff50ce0d4449ec038577c0411a +size 11357638 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..16ae3025320145b084f3798b4e5e285d2a144fb2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:df77cae977de32898c68219d62d2bcaf97f0c3ee6fc7256ccb4a3c3ff4fc28d7 +size 9482460 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a18dfdd8eecd0ab12529a0431698471505f3d728 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4402604745072d9cadc006cab14e41211f8291da3c8c2949fbcd50fc9c9abdbd +size 9225886 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f94415e81142ad83cc1f2c8311ee8f3569d3ed1b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2de16a694496064a2a3ecb49ca413fd1395b2d20022e571243214751c39cad65 +size 10647555 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0078.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0078.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4cdb7432c5e02ae739a282a96463d2c86177c686 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0078.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:66745de5101c20b1d79d9fa33f480c194956cb4b585fe660e2257196c31e4f92 +size 9581377 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f4ab968e1f617f3cd89c34ec495bab3936b0513b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:887b9cf12b77e3f92b520624ae10bf1274af7370c8ab9ca78d13c3d11426e73f +size 12279288 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..018d6778d9fceb57a1617d989f22fa1606cc5fe0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b816f07c500ad8e4530d22ab82bc1130744335bf5fd9b0403c08bcd6c9e3144d +size 12267447 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..cf5f5845694daeb5676e75beafee285c5c3ae65f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1ff2418169f200e944333963bd4e9279e0ba384fd4160836d8716f76efb5851 +size 8297413 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..93d6a86ac29f69e110513421646fb1ec4c47c9b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6e519b07de474dd4dc700c0280f16995d42296cd5bfc7baf00668c37edec6e42 +size 12692171 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f3a9772080b78f2f3e7cd6a697c4cd961daf5349 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5d24026eaacdf865df54c47c620d3d90ba19c0de23accd7720699e59acd1254f +size 8375599 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9907cd098cc5cfd4bc9df2f52a96ecccd964a869 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bc5974f2f91b2680f1f821f25b9ab79e12bed8c8987db6a5bc9ee22940dd89af +size 13283040 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..62a3c0d589b3043a0c897325bcc71aab5bc1f140 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6668c889ab990e1a65ed5add282978e72cbc4f925f4a19cfbce283f0bf870ca8 +size 13027497 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c689aa2efd4ab57d32246f3550291312a5dfcbdb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:be33fa47764a45591b85056a1e235ed29cd5c546bd4b371ecd63aa57f49b7f14 +size 8494488 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ab8e89d81230b0cf011553e0fbe357fe406967e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7e8cdb4578d811683479ff840b192dbcc9f0c25dd4e31da95f87e431b82b3760 +size 10000798 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..af15ad1b9c27ec233039c8ab1dc904350be1a700 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3c733ab9e53e76486cbfa95c223f2ec14f862ab6e49a18bb06e2c334c228df12 +size 9820703 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..95de113c5f48f03e937afd9a7c722a95a66ad867 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1f2bcfaa030b641b449228f527d152e5f1a3551d83ec038cae5e656b376b460d +size 10288611 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e71f803d6f237776e1d3522f8daa4a47dfaf36d7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:683f70fca26e6693894e495c66521947a5a52319f6eb06a724f90b4119247315 +size 9146563 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4d437a367dafccb6c95e2445d752c9e08cb53b73 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7863047477a566126ff9ccc83384aba78a721222c2b3b3efed2488652e1f891 +size 8502514 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a930a4db37c6ec965ef5c53f2c9b2dd347c60e37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:252c20f3e5b7eba3627d5927c8c39db89b36fb6d9e021e45fd9ceb1a688ee119 +size 7820941 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f78dd11b5126a87aea26abf52bb0129e291e55af --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9029cfd446d20c880b431bfe7234ec806e0c951f04cda761b218e4d93f9f42e7 +size 8407744 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b455de098f35fcb339cae56beec13e96eceb892 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4b43085f874fac0de8d3a6c2bb0adc603ec144375d83671d23eff82633914b58 +size 8454659 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..488c703f6c0b1cb72c5d1490464582fa74356562 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:706553794a2f96b7fff3da801a90cd69cd0a48f6c5ffe02b73b3cb11587eb0b7 +size 8315001 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..07b35dc0930187868b02b9ba1e09bf27d5caa206 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d33b6cd6e9267e11d67ba93efd63bd402c22f6bd3ca76268cb9aa1354fe113db +size 8533911 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3022130680fb663b3a45dcfb8d4f11072963d375 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3de6d708e8e02c12a7201ed219336f5421fced6d031c446060cc7e671c6300e2 +size 10636089 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dc34a14901e41169356a896bcdaf43c4d4a35284 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c36d3cea798bb1ca6bd18da06c5553f34098d2142dd2c359bc144b3a12929e1 +size 9568640 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3f072be790220d56b72b076c2484b85fba0cf73b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8dbba54729c47345d6028ffe9a17f62339962f7d5b1c34cebdded000fff2b8d5 +size 11176436 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..273f4aaf5c1338184f9305cbcfa015fdd7cd3af0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b1ea44b1ac4ccb34cb2ec9a7512d6a4bfe44ea5288096cb3fa0113610a06c719 +size 13997366 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0101.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0101.h5 new file mode 100644 index 0000000000000000000000000000000000000000..84f70e38240e6d956b396696863973760c18d434 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0101.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbd1cc0437b9e3df75a893c5c85049ef68a524b75f6963b50c72b0cbfb390cd0 +size 9127791 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e857b1fd8de8e9e58b3f675d46a6714b5b79b85f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1984,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1967,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1975,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1981,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1993,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1989,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1969,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1991,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1986,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1982,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1973,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1987,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1988,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1972,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1983,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1982,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1979,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1961,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1979,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1986,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1975,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1972,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1974,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1983,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1969,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1981,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1984,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1972,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1979,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1989,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1969,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1973,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1964,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1973,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1989,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1986,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1982,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1968,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1991,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1984,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1967,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1969,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1987,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1965,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1975,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1981,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1967,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1965,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1971,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1986,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1968,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1982,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1976,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1970,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1975,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1968,"success":true,"robot_type":"ur5e"} +{"episode_index":78,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1970,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1983,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1968,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1970,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1983,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1983,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1977,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1972,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1980,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1990,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1969,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1974,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1982,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1989,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1981,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1986,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1985,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1978,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1985,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1979,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1984,"success":true,"robot_type":"ur5e"} +{"episode_index":101,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":1981,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ddff66b950db9baedbdccc7370175ba66d22c257 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-06T08:12:44","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[-0.32901365196465393,-1.5630703355107443,0.71338606911949],"aabb_xy":[[-0.33364876711688723,-1.5669376705878928],[-0.3243785368124205,-1.5592030004335953]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_1","position":[-0.042439176667218304,-0.8596008838801514,0.71338606911949],"aabb_xy":[[-0.07993917716457655,-0.8635695674282698],[-0.00493917616986006,-0.855632200332033]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_2","position":[0.557317858004954,-0.4192705075460643,0.71338606911949],"aabb_xy":[[0.5323178584532156,-0.4294129914111991],[0.5823178575566925,-0.40912802368092965]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_3","position":[-0.03898180724387801,1.0044705791621609,0.71338606911949],"aabb_xy":[[-0.050749994038535536,0.9194705792569395],[-0.027213620449220488,1.0894705790673826]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_4","position":[0.287949780971845,-1.3996557371926277,0.71338606911949],"aabb_xy":[[0.27015627403692855,-1.4174554827884254],[0.3057432879067614,-1.38185599159683]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_5","position":[0.4646492297727789,1.2989963251726775,0.71338606911949],"aabb_xy":[[0.45031480464661544,1.2869361096181384],[0.47898365489894235,1.3110565407272161]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.4708294677549545,-0.6732204721164761,0.71338606911949],"aabb_xy":[[0.4358294677784586,-0.6826850881640927],[0.5058294677314503,-0.6637558560688595]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_7","position":[-0.14306353974527541,1.6776285812312097,0.71338606911949],"aabb_xy":[[-0.19294623662297167,1.627628581984935],[-0.09318084286757923,1.7276285804774845]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[0.18793685816229144,-1.1227641143526834,0.71338606911949],"aabb_xy":[[0.16465501596416007,-1.2077641156499113],[0.21121870036042276,-1.0377641130554551]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_9","position":[-0.5106400377283121,1.5232290735151968,0.71338606911949],"aabb_xy":[[-0.5194420930372847,1.5154177473602675],[-0.5018379824193393,1.5310403996701256]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[-0.5761190099742586,-1.9900247178604165,0.71338606911949],"aabb_xy":[[-0.6411190085313314,-2.0197772512742995],[-0.5111190114171857,-1.960272184446534]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.4678073684005559,-1.0452534431067986,0.71338606911949],"aabb_xy":[[0.4503073681555065,-1.0627532309463652],[0.48530736864560525,-1.0277536552672315]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.4615046075227925,1.7609431986153612,0.71338606911949],"aabb_xy":[[-0.5255046048251388,1.7165767716475044],[-0.39750461022044603,1.805309625583218]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[-0.28593675471215974,0.5027436069892586,0.71338606911949],"aabb_xy":[[-0.2946507237620941,0.4802436063300702],[-0.27722278566222514,0.5252436076484466]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_14","position":[-0.17313953286644646,-0.38203796544629176,0.71338606911949],"aabb_xy":[[-0.19563953337848702,-0.4045298238116901],[-0.15063953235440583,-0.3595461070808934]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[0.10211752342957914,-2.388326081835193,0.71338606911949],"aabb_xy":[[0.0675264405755339,-2.4533260821202236],[0.13670860628362433,-2.3233260815501615]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[0.6109443030829178,-1.7011594355863595,0.71338606911949],"aabb_xy":[[0.5509443028315165,-1.7554407606228242],[0.6709443033343189,-1.6468781105498949]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.0998236406133326,1.3518988565702506,0.71338606911949],"aabb_xy":[[-0.12340876407722745,1.286898854324819],[-0.07623851714943775,1.4168988588156826]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_18","position":[-0.09997337042755161,0.5444092812974244,0.71338606911949],"aabb_xy":[[-0.1238095880681567,0.4544092804889379],[-0.07613715278694656,0.6344092821059109]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[0.5053712655235254,1.585554253556165,0.71338606911949],"aabb_xy":[[0.4253774419449672,1.505554250963324],[0.5853650891020836,1.665554256149007]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_20","position":[0.2900973096410956,-1.2390725847647206,0.71338606911949],"aabb_xy":[[0.2525973084563027,-1.2434908074607807],[0.3275973108258883,-1.2346543620686596]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.12467380253498583,1.1557436148513305,0.71338606911949],"aabb_xy":[[0.10461539092174554,1.1356785279421728],[0.14473221414822612,1.1758087017604877]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_22","position":[0.5734155390226481,-2.192608360050778,0.71338606911949],"aabb_xy":[[0.5646343118754119,-2.2013881073393087],[0.5821967661698845,-2.183828612762248]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[0.4563108097901396,-0.38689957872835956,0.71338606911949],"aabb_xy":[[0.4387641148740206,-0.4243995802926108],[0.4738575047062585,-0.3493995771641083]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.36315235163451154,-2.2063743657748045,0.71338606911949],"aabb_xy":[[-0.40533676579534234,-2.270374366052016],[-0.32096793747368085,-2.1423743654975937]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_25","position":[-0.6380428263405897,0.885127138818699,0.71338606911949],"aabb_xy":[[-0.6755428266888175,0.8733357432376154],[-0.600542825992362,0.8969185343997825]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_26","position":[0.688499323758939,0.557493985876166,0.71338606911949],"aabb_xy":[[0.6660345537875337,0.5349939849973055],[0.710964093730344,0.5799939867550266]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_27","position":[-0.5125124501171038,-1.588847904820072,0.71338606911949],"aabb_xy":[[-0.5625074610765559,-1.6388479038556643],[-0.46251743915765187,-1.5388479057844808]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_28","position":[-0.34392469215416555,-0.5760195873742204,0.71338606911949],"aabb_xy":[[-0.3536806816633394,-0.5857821214334548],[-0.3341687026449916,-0.5662570533149859]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_29","position":[0.6330910582623044,-2.512640610995011,0.71338606911949],"aabb_xy":[[0.619644531628261,-2.526110462648102],[0.6465375848963477,-2.4991707593419195]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_30","position":[-0.5243307086597828,0.5464446747154654,0.71338606911949],"aabb_xy":[[-0.5462393907991338,0.5245440078953747],[-0.5024220265204317,0.5683453415355562]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_31","position":[-0.302876249685623,1.5765051361556819,0.71338606911949],"aabb_xy":[[-0.36050671857289374,1.516505137228971],[-0.24524578079835202,1.6365051350823923]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_32","position":[0.07642161748666054,0.8508771692935602,0.71338606911949],"aabb_xy":[[0.05892161722732393,0.8367856271047878],[0.0939216177459972,0.864968711482333]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_33","position":[-0.6313351074856389,-0.6009913393127915,0.71338606911949],"aabb_xy":[[-0.6387475630270274,-0.6068425497344194],[-0.6239226519442505,-0.5951401288911635]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_34","position":[-0.18329331894441303,-1.9115945182187308,0.71338606911949],"aabb_xy":[[-0.18742917527711328,-1.949094517663088],[-0.1791574626117129,-1.874094518774374]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6872125615836524,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8988.png","name":"8988"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8988.png","name":"8988"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/787.png","name":"787"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5584.png","name":"5584"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1624.png","name":"1624"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8610.png","name":"8610"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":770.2563773265737,"rotation_z_degrees":59.336447320345876,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00907822839762701,-0.01243859698687736,0.01816939647885003]},{"name":"camera_2","offset_m":[0.000831262408538213,0.006544130989718164,0.00723496412769014]},{"name":"camera_3","offset_m":[0.012103839953546223,0.013744620887689896,-0.015920377782053005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011266027689223858,-2.2173122677747632e-05,0.00023636385675308413],"end_effector_yaw_offset_degrees":0.5857411580928538},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0015279278905651196,0.0009388484200517121,-0.0005656398615080133],"end_effector_yaw_offset_degrees":0.237958217606818},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001953187933847582,-0.0008169716317075588,-0.0005029762960524588],"end_effector_yaw_offset_degrees":-0.47362814573640444},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011995571618271614,-0.00040675567420749687,0.0005600315721930042],"end_effector_yaw_offset_degrees":0.48833541952236725},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016100218882978687,-0.001952925221539335,0.001137490583844498],"end_effector_yaw_offset_degrees":-0.4764338333494209},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-6.900947289298636e-05,0.0016817854947006926,-0.0012951207451457024],"end_effector_yaw_offset_degrees":0.7825249280385891}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004638402291513881,0.0030809736330079203],"position_m":[0.13586159770848613,0.2377809736330079,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002233197403639312,0.003533957980108968],"position_m":[0.2113668025963607,-0.05016604201989103,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010985013233046981,0.004421432562324498],"position_m":[0.2501985013233047,-0.3789785674376755,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0036899615119964048,0.0009433436125459941],"position_m":[0.35728996151199643,0.118143343612546,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e7449c4ca495e322893d46236bbef40769a5edb03e9e32b8b5b72c646adf592f","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8988/tex_ceiling_textures_8610/tex_floor_textures_1624/tex_table_textures_787/tex_wall_textures_5584","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4805505253074365095,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4805505253074365095,"visual_seed":4805505253074365095,"scene_id":"lab_003","finished_at":"2026-09-06T08:18:40"} +{"episode_id":"ep_000001","started_at":"2026-09-06T08:18:49","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_0","position":[-0.5705960243574876,1.0359122756608614,0.71338606911949],"aabb_xy":[[-0.6050583717556293,1.0014183932630385],[-0.5361336769593457,1.0704061580586839]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.3014735663716953,-0.6816032946517827,0.71338606911949],"aabb_xy":[[-0.35147356732222806,-0.713152441655304],[-0.25147356542116245,-0.6500541476482612]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_2","position":[-0.1486918973274386,-1.5307781814531356,0.71338606911949],"aabb_xy":[[-0.23869189966145765,-1.6082605360382485],[-0.058691894993419536,-1.4532958268680232]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[0.30652247652448184,-1.6297278324381634,0.71338606911949],"aabb_xy":[[0.24252247735471197,-1.6764945195571261],[0.37052247569425184,-1.5829611453192012]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_4","position":[0.6567139160734914,-0.4869307961133216,0.71338606911949],"aabb_xy":[[0.6342174946396273,-0.509430795920069],[0.6792103375073555,-0.46443079630657413]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[0.21638190500600463,0.8967583150976055,0.71338606911949],"aabb_xy":[[0.2123037470989549,0.8926773348493421],[0.22046006291305437,0.9008392953458687]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_6","position":[0.4715364549875516,-0.7352033433151761,0.71338606911949],"aabb_xy":[[0.46178046547837764,-0.7449658773744106],[0.4812924444967254,-0.7254408092559417]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.4481361811790785,-1.7909753172834861,0.71338606911949],"aabb_xy":[[0.38413618478350536,-1.8549386057022197],[0.5121361775746516,-1.7270120288647526]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.611342911963374,-1.335240519549262,0.71338606911949],"aabb_xy":[[0.5763429128334183,-1.340985740624926],[0.6463429110933296,-1.3294952984735977]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.18193292215205603,0.5862460217368355,0.71338606911949],"aabb_xy":[[-0.21896703158011574,0.551868814403126],[-0.14489881272399632,0.6206232290705448]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.6611762443341684,0.701202766235347,0.71338606911949],"aabb_xy":[[0.6546746078261639,0.6914349442090373],[0.6676778808421732,0.7109705882616568]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.027939384001185674,1.2382394488844097,0.71338606911949],"aabb_xy":[[-0.07793938566268042,1.1882410066287068],[0.022060617660309086,1.2882378911401122]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_12","position":[0.3474420946621417,-0.5162942830769062,0.71338606911949],"aabb_xy":[[0.33429084869085235,-0.5412942828335928],[0.36059334063343107,-0.49129428332021974]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_13","position":[0.4911885058425902,1.0603362441566144,0.71338606911949],"aabb_xy":[[0.42118850943262837,1.0398983085049323],[0.5611885022525519,1.0807741798082957]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_14","position":[0.5630372940551656,-2.3864108630602887,0.71338606911949],"aabb_xy":[[0.5549939341292104,-2.471410864155655],[0.5710806539811207,-2.3014108619649223]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[0.2280951501541899,-1.33964241696761,0.71338606911949],"aabb_xy":[[0.20309515060245142,-1.3497849008327445],[0.2530951497059284,-1.329499933102475]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[0.14621665124384486,-1.6770407298113903,0.71338606911949],"aabb_xy":[[0.13444846444918734,-1.762040729716612],[0.15798483803850238,-1.592040729906169]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[-0.5653465910999274,-0.11476165509778147,0.71338606911949],"aabb_xy":[[-0.6131527587136959,-0.17976165780484044],[-0.5175404234861586,-0.04976165239072251]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.2288398271426606,-1.1162164624361053,0.71338606911949],"aabb_xy":[[0.22081355651203463,-1.124967957413458],[0.23686609777328663,-1.1074649674587527]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_19","position":[-0.5861024792351801,-0.5464243779584343,0.71338606911949],"aabb_xy":[[-0.6660963028137384,-0.6264243805512759],[-0.506108655656622,-0.4664243753655928]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_20","position":[-0.19717477841883296,0.9986436639635019,0.71338606911949],"aabb_xy":[[-0.2328039343187927,0.9630109972066488],[-0.16154562251887322,1.0342763307203549]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[0.030351828763720223,1.138751332990827,0.71338606911949],"aabb_xy":[[0.024385289822984435,1.1327901883314628],[0.03631836770445601,1.1447124776501911]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_22","position":[-0.23543793696035498,-0.5214451325717899,0.71338606911949],"aabb_xy":[[-0.2854221726685322,-0.5714451313852854],[-0.18545370125217778,-0.4714451337582942]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.09066447150097723,1.0628269972452817,0.71338606911949],"aabb_xy":[[-0.09480032783367744,1.025326997800925],[-0.08652861516827705,1.100326996689639]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_24","position":[-0.6228357658535393,-1.0947317778412222,0.71338606911949],"aabb_xy":[[-0.6587492702785288,-1.1306452860579765],[-0.5869222614285495,-1.0588182696244675]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_25","position":[0.6676786992360089,0.9199000738031531,0.71338606911949],"aabb_xy":[[0.617699890725693,0.8699000737974342],[0.7176575077463248,0.9699000738088718]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900461308092639,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9934.png","name":"9934"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4270.png","name":"4270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1446.png","name":"1446"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6254.png","name":"6254"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1857.png","name":"1857"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":607.672133762852,"rotation_z_degrees":228.03723384033094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016490917348460706,0.011582583372876692,-0.015528202029266108]},{"name":"camera_2","offset_m":[0.008713236639087137,0.005528915621907209,-0.01351223896470314]},{"name":"camera_3","offset_m":[0.017865350495256,0.010587462562999063,0.014863644766393517]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010997302688310548,0.0011692972551734706,-0.0014515654962885538],"end_effector_yaw_offset_degrees":-0.7969146616004472},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0019777789515236293,0.0019453022616639842,-0.0017495307219506202],"end_effector_yaw_offset_degrees":0.20555520007014727},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006838025599347373,0.0006321301318413762,-0.00121308494776714],"end_effector_yaw_offset_degrees":-0.3372811052033291},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005077278849516676,0.0006212326791886925,0.0006915037397373204],"end_effector_yaw_offset_degrees":0.4778202315910558},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000676110688163973,0.0009952131035070155,0.001043019122987072],"end_effector_yaw_offset_degrees":-0.70666327033615},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008977186591421367,-0.00012810431991216705,-0.0002079605925675433],"end_effector_yaw_offset_degrees":0.47871817251350124}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002334558393418308,-0.004735447617570871],"position_m":[0.14283455839341833,0.22996455238242913,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004921360320814843,-0.004219437870113604],"position_m":[0.20867863967918518,-0.0579194378701136,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004799725233757231,0.004889667914273354],"position_m":[0.2538997252337572,-0.37851033208572665,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003108828388809007,0.0001972972148332917],"position_m":[0.3532891171611191,0.11739729721483329,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e8ee3704150452fbc94a56bb5ee46b1d6eeac09132d63f2e59431cbe4cbc3c13","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_9934/tex_ceiling_textures_1857/tex_floor_textures_6254/tex_table_textures_4270/tex_wall_textures_1446","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4109622714374558976,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4109622714374558976,"visual_seed":4109622714374558976,"scene_id":"lab_003","finished_at":"2026-09-06T08:25:39"} +{"episode_id":"ep_000002","started_at":"2026-09-06T08:25:47","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5600010696034976,-0.7527790890472541,0.71338606911949],"aabb_xy":[[0.49600106890002826,-0.7987974715201752],[0.6240010703069669,-0.7067607065743331]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_1","position":[0.4155971333467836,1.562341603383269,0.71338606911949],"aabb_xy":[[0.37809713216199076,1.5579233806872084],[0.45309713453157635,1.5667598260793294]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_2","position":[-0.08075155986387883,-0.6254656709466262,0.71338606911949],"aabb_xy":[[-0.11666506428886851,-0.6613791791633808],[-0.04483805543888915,-0.5895521627298715]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_3","position":[0.13459624607585519,1.516416655300174,0.71338606911949],"aabb_xy":[[0.07059624581538439,1.4714078559472459],[0.198596246336326,1.561425454653102]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[0.42685007440518774,1.4658893548145522,0.71338606911949],"aabb_xy":[[0.4170940848960138,1.4561268207553177],[0.4366060639143616,1.4756518888737866]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[0.40299937123558505,-1.519356982407451,0.71338606911949],"aabb_xy":[[0.3928463556814356,-1.555426523980191],[0.41315238678973437,-1.4832874408347105]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.5960379281694868,-0.05353723132542587,0.71338606911949],"aabb_xy":[[0.5677082182209465,-0.057997973519142945],[0.624367638118027,-0.049076489131708825]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[0.439513493495548,0.033625751603819864,0.71338606911949],"aabb_xy":[[0.4244111920345298,0.018524229972758034],[0.454615794956566,0.04872727323488167]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_8","position":[0.3038869644029081,1.551772629787791,0.71338606911949],"aabb_xy":[[0.295773309729531,1.543666813333762],[0.3120006190762852,1.5598784462418203]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_9","position":[0.24104865002677978,-1.5878568382766494,0.71338606911949],"aabb_xy":[[0.20604865175665987,-1.5949309659716373],[0.2760486482968997,-1.580782710581661]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_10","position":[-0.36249599417035117,-1.6376945077078733,0.71338606911949],"aabb_xy":[[-0.3750986933074276,-1.6502899039327388],[-0.3498932950332747,-1.6250991114830078]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[-0.6093793179508729,0.8713751539679246,0.71338606911949],"aabb_xy":[[-0.6181605450981092,0.8625954066793947],[-0.6005980908036367,0.880154901256455]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[0.30953222224358923,-1.1803091489736495,0.71338606911949],"aabb_xy":[[0.27707052136166166,-1.2104419810885518],[0.3419939231255166,-1.1501763168587467]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.055249822859306685,-2.4849608760152395,0.71338606911949],"aabb_xy":[[-0.008750177518226925,-2.5347061428660513],[0.1192498232368403,-2.435215609164427]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[-0.45130698384490786,1.6159135919805192,0.71338606911949],"aabb_xy":[[-0.46138869092348134,1.535913594088404],[-0.4412252767663344,1.6959135898726334]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.2782840644532403,-1.7084431098187056,0.71338606911949],"aabb_xy":[[0.23329147773478986,-1.7534431090931542],[0.3232766511716907,-1.6634431105442566]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.16828547138194905,-2.084791733697336,0.71338606911949],"aabb_xy":[[0.13078546986631734,-2.096018506713481],[0.20578547289758076,-2.073564960681191]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.5748357504642995,-1.1082791091705066,0.71338606911949],"aabb_xy":[[-0.6048274131981698,-1.1382791085073072],[-0.5448440877304291,-1.0782791098337061]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.23747292745925885,1.2295119289120393,0.71338606911949],"aabb_xy":[[-0.30247293009705234,1.1780323302125923],[-0.17247292482146534,1.2809915276114863]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[0.45786022224967726,-0.9242039415076035,0.71338606911949],"aabb_xy":[[0.45176559436155894,-0.9327733360592723],[0.4639548501377956,-0.9156345469559348]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.07337753228423805,1.3037530586421409,0.71338606911949],"aabb_xy":[[0.025571364670469394,1.238753055935082],[0.12118369989800669,1.3687530613491998]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_21","position":[-0.5245142681843674,0.21171167396980062,0.71338606911949],"aabb_xy":[[-0.5885142673541374,0.16494498685083814],[-0.4605142690145975,0.2584783610887631]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[-0.2832558204190898,-0.8562725053975158,0.71338606911949],"aabb_xy":[[-0.33822954245542264,-0.9112725049617489],[-0.22828209838275687,-0.8012725058332826]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_23","position":[0.09067857549187341,-2.2808837667822672,0.71338606911949],"aabb_xy":[[0.07317864205789004,-2.2983837667025013],[0.10817850892585679,-2.2633837668620322]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_24","position":[0.03847231656456174,0.8816851290522587,0.71338606911949],"aabb_xy":[[0.032160217028223304,0.8759181897990399],[0.04478441610090017,0.8874520683054775]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[-0.3501308691482058,-0.6594074711915343,0.71338606911949],"aabb_xy":[[-0.4000135660259021,-0.709407470437809],[-0.30024817227050965,-0.6094074719452596]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[0.5182551774079551,-1.493353821851718,0.71338606911949],"aabb_xy":[[0.5013444449716132,-1.5068260274443321],[0.5351659098442968,-1.4798816162591033]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_27","position":[-0.07051480567081259,-1.6679589977493343,0.71338606911949],"aabb_xy":[[-0.15051480307440598,-1.747951568947517],[0.009485191732780838,-1.5879664265511513]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[0.5792384529601033,0.1659400918516436,0.71338606911949],"aabb_xy":[[0.5728246393169183,0.15953027160397526],[0.5856522666032882,0.17234991209931194]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_29","position":[-0.1398056084787732,0.2964542943839126,0.71338606911949],"aabb_xy":[[-0.17480560678946866,0.2887392794603669],[-0.10480561016807777,0.3041693093074582]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6911425294050066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8258.png","name":"8258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8924.png","name":"8924"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8065.png","name":"8065"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8243.png","name":"8243"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9139.png","name":"9139"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":622.7945880109336,"rotation_z_degrees":62.741866883120764,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008281549794669845,0.019756419502709784,0.010028621253671193]},{"name":"camera_2","offset_m":[-0.006077086958404214,0.01866037961906174,0.001254327066981288]},{"name":"camera_3","offset_m":[0.014189847341425112,-0.015533661298351084,-0.002463484410492652]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00020778995314835484,0.0001433733435734809,-3.249975594034685e-05],"end_effector_yaw_offset_degrees":-0.1162918044824599},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001829615453317239,-0.0013653647194434382,0.0019004703480898348],"end_effector_yaw_offset_degrees":-0.8111063817658304},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010020724111251878,-8.471050084094857e-05,0.00019976793632832867],"end_effector_yaw_offset_degrees":-0.7919734499407427},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003901717405861093,0.0009149235135446267,-0.0006057896581725198],"end_effector_yaw_offset_degrees":0.13255890868891096},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00020630219395126933,0.0008855618315889041,0.0018280642642535365],"end_effector_yaw_offset_degrees":-0.42340456214445843},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00042527311404164624,0.001892210844199836,0.0001280735103537196],"end_effector_yaw_offset_degrees":-0.959651094649616}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0036311993751048533,0.0008646609486747114],"position_m":[0.13686880062489515,0.2355646609486747,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00020397198357022164,0.0035365351927318074],"position_m":[0.21380397198357023,-0.05016346480726819,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026820911965928064,-0.0002970645936479733],"position_m":[0.2517820911965928,-0.383697064593648,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004310335198122391,-7.858786712760038e-05],"position_m":[0.35791033519812243,0.1171214121328724,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a0d4d13303eadd307606337073b34640aac02143fea743bfbad8e320d9940678","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8258/tex_ceiling_textures_9139/tex_floor_textures_8243/tex_table_textures_8924/tex_wall_textures_8065","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":645615118760153768,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":645615118760153768,"visual_seed":645615118760153768,"scene_id":"lab_003","finished_at":"2026-09-06T08:32:43"} +{"episode_id":"ep_000003","started_at":"2026-09-06T08:32:49","dimensions":{"distractor":{"count":25,"items":[{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_0","position":[-0.33422405444640474,-2.1653198407181518,0.71338606911949],"aabb_xy":[[-0.4192240531384794,-2.1973057041130306],[-0.2492240557543301,-2.133333977323273]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_1","position":[0.5076664141959419,-2.032435730252455,0.71338606911949],"aabb_xy":[[0.45766641283505466,-2.08241363482787],[0.557666415556829,-1.982457825677039]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[0.6846526853535242,-0.3265533970077694,0.71338606911949],"aabb_xy":[[0.6791947397165041,-0.4065534003154285],[0.6901106309905443,-0.2465533937001103]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_3","position":[0.4017411153390529,-0.817707857238416,0.71338606911949],"aabb_xy":[[0.3930271462891183,-0.840207857897604],[0.41045508438898726,-0.7952078565792275]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.3852749962520623,-0.6664534851185477,0.71338606911949],"aabb_xy":[[0.32027499809614324,-0.6927497296684599],[0.45027499440798135,-0.6401572405686355]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_5","position":[-0.6555766989360252,-2.1152706880940775,0.71338606911949],"aabb_xy":[[-0.6688076444707064,-2.1284981071160765],[-0.6423457534013438,-2.1020432690720776]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.5276443578680557,-1.3841264600748777,0.71338606911949],"aabb_xy":[[-0.6176443543689274,-1.4300381024933357],[-0.43764436136718393,-1.3382148176564193]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_7","position":[-0.5128226576924351,0.9552398507038036,0.71338606911949],"aabb_xy":[[-0.5599520366942706,0.8912398496594015],[-0.4656932786905993,1.0192398517482055]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_8","position":[-0.17515728020990962,-1.9375207881926704,0.71338606911949],"aabb_xy":[[-0.20945419122765022,-1.9718176744026115],[-0.14086036919216896,-1.9032239019827288]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[0.35909979807059544,-1.0832313069900545,0.71338606911949],"aabb_xy":[[0.30410754743508456,-1.1382313087333673],[0.4140920487061065,-1.0282313052467418]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[-0.4659456913584086,-2.4621708291854945,0.71338606911949],"aabb_xy":[[-0.5159456917189746,-2.512150816395097],[-0.4159456909978425,-2.412190841975891]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_11","position":[-0.568671261580733,-0.20309672441873738,0.71338606911949],"aabb_xy":[[-0.5767075962820178,-0.21113484372315414],[-0.5606349268794482,-0.19505860511432058]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_12","position":[0.2779577998381164,-1.9203666945747477,0.71338606911949],"aabb_xy":[[0.27311420507688644,-1.9252183470537318],[0.2828013945993464,-1.9155150420957636]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_13","position":[-0.5396982007208098,-0.5469482146035554,0.71338606911949],"aabb_xy":[[-0.5996982013168259,-0.6017606871487788],[-0.4796982001247936,-0.4921357420583319]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[0.5721780291939578,-2.5266634203730463,0.71338606911949],"aabb_xy":[[0.5672220090090767,-2.5491634205751676],[0.577134049378839,-2.504163420170925]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_15","position":[0.43260313395830097,-1.618915587165166,0.71338606911949],"aabb_xy":[[0.38761054723985056,-1.6639155864396145],[0.4775957206767514,-1.573915587890717]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_16","position":[0.533199928657093,-0.033054308558147394,0.71338606911949],"aabb_xy":[[0.5223594504305781,-0.050240589848796195],[0.5440404068836079,-0.01586802726749858]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_17","position":[0.36095132200216073,1.0336497040249668,0.71338606911949],"aabb_xy":[[0.3108538580210871,0.969649703515155],[0.41104878598323435,1.0976497045347786]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_18","position":[0.05024694174060007,1.6873568729985418,0.71338606911949],"aabb_xy":[[-0.011343817483392749,1.6233568748894949],[0.11183770096459289,1.7513568711075886]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_19","position":[0.4735772233837743,1.7987112134893413,0.71338606911949],"aabb_xy":[[0.4639455871633447,1.7890739007096321],[0.48320885960420396,1.80834852626905]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.6042186664024047,1.1539892903644313,0.71338606911949],"aabb_xy":[[0.5242186693881568,1.13385473869102],[0.6842186634166527,1.1741238420378426]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_21","position":[0.25807307333916385,0.8139744130594635,0.71338606911949],"aabb_xy":[[0.1680730736159897,0.7909010605242837],[0.34807307306233803,0.8370477655946433]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_22","position":[0.19568405972209524,-0.8763755568048286,0.71338606911949],"aabb_xy":[[0.14580136284439904,-0.9263755560511034],[0.24556675659979146,-0.826375557558554]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[0.21566211655699385,1.675043207157437,0.71338606911949],"aabb_xy":[[0.16568905102447837,1.6250432073449044],[0.2656351820895093,1.7250432069699702]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_24","position":[-0.11554265386528106,0.3922698982534176,0.71338606911949],"aabb_xy":[[-0.16955825014718107,0.3282698953611604],[-0.06152705758338105,0.45626990114567473]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897054083976014,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4597.png","name":"4597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4597.png","name":"4597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2735.png","name":"2735"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9783.png","name":"9783"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6963.png","name":"6963"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9477.png","name":"9477"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":573.4284627675233,"rotation_z_degrees":332.76455817385306,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0075950765700687276,-0.0008103019979238471,0.01894226662858339]},{"name":"camera_2","offset_m":[0.01731678315874018,-0.0020804165326934604,-0.01003913550591522]},{"name":"camera_3","offset_m":[-0.016651622032438293,-0.010683840094485428,-0.00972551565000495]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[2.628068442159584e-05,-0.0012843819906894326,-0.0016126231158747624],"end_effector_yaw_offset_degrees":0.6837844488762874},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0019037786448243494,-0.0006275770146623655,0.0016888311450456105],"end_effector_yaw_offset_degrees":-0.9183412839781395},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006197230696775736,0.0009090624093295086,-0.0019514566889548023],"end_effector_yaw_offset_degrees":-0.15387006779145307},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006705586773090699,-0.00044955128602307336,0.0006040197246704048],"end_effector_yaw_offset_degrees":0.8954187292828155},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006253992206210347,-0.0009929072434709991,0.00035607123116145967],"end_effector_yaw_offset_degrees":-0.28532529347306346},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011055216417273938,0.0013952291087082382,-0.0005316140284607718],"end_effector_yaw_offset_degrees":0.022449389037221712}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016204593435706848,-0.004399534732352444],"position_m":[0.13887954065642932,0.23030046526764755,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[1.3966196584541853e-05,0.002038876668007573],"position_m":[0.21361396619658454,-0.05166112333199242,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033564822300820836,0.003316784440735133],"position_m":[0.25245648223008205,-0.3800832155592649,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0026735310350608143,-0.00029486113731036056],"position_m":[0.3562735310350608,0.11690513886268963,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a560373249942c98838699e169012ae7c35d75881445f4932cbe747fc58c6542","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0003.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4597/tex_ceiling_textures_9477/tex_floor_textures_6963/tex_table_textures_2735/tex_wall_textures_9783","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3049189478280276794,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3049189478280276794,"visual_seed":3049189478280276794,"scene_id":"lab_003","finished_at":"2026-09-06T08:39:33"} +{"episode_id":"ep_000004","started_at":"2026-09-06T08:39:40","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[0.27074501797980777,-1.559215792943814,0.71338606911949],"aabb_xy":[[0.22074501933388657,-1.6091353366032763],[0.32074501662572896,-1.5092962492843516]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_1","position":[0.4648335946721338,-2.0767191242311873,0.71338606911949],"aabb_xy":[[0.44231990284867656,-2.1467191248321944],[0.48734728649559095,-2.0067191236301793]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_2","position":[-0.4365700410332334,-0.2537045311271511,0.71338606911949],"aabb_xy":[[-0.4815700424994622,-0.29870438798863175],[-0.39157003956700454,-0.2087046742656704]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[-0.2778826800279326,-0.81934091865976,0.71338606911949],"aabb_xy":[[-0.293054849309566,-0.8345097755879632],[-0.2627105107462993,-0.8041720617315565]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_4","position":[0.588680794073269,-1.700037999549676,0.71338606911949],"aabb_xy":[[0.5036807953811944,-1.7320238629445548],[0.6736807927653437,-1.668052136154797]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_5","position":[-0.6656040834838391,-0.1334624127586368,0.71338606911949],"aabb_xy":[[-0.6690447597238963,-0.1373238457330013],[-0.662163407243782,-0.12960097978427235]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.3414601367851142,1.5328806676722002,0.71338606911949],"aabb_xy":[[0.2764601382280414,1.5031281342583176],[0.40646013534218706,1.5626332010860828]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_7","position":[-0.27759568318788164,-2.2495415584172975,0.71338606911949],"aabb_xy":[[-0.3415956835654152,-2.2992868252681093],[-0.21359568281034796,-2.199796291566485]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_8","position":[0.5043630140473998,-0.8491989238413609,0.71338606911949],"aabb_xy":[[0.4143630103704814,-0.9106313304184651],[0.5943630177243178,-0.7877665172642564]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.632879928622105,0.19828670980151086,0.71338606911949],"aabb_xy":[[0.5428799318864946,0.14510324648421635],[0.7228799253577151,0.2514701731188054]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_10","position":[0.41769557864561824,-1.941394262097266,0.71338606911949],"aabb_xy":[[0.3376955799887323,-1.9558991210215289],[0.4976955773025043,-1.926889403173003]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_11","position":[-0.08858331857418078,-0.8691578265028383,0.71338606911949],"aabb_xy":[[-0.15358331953130797,-0.9211060384365439],[-0.023583317617053564,-0.8172096145691328]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_12","position":[-0.34722469080706053,-1.3857427975497238,0.71338606911949],"aabb_xy":[[-0.36238756378399767,-1.4009082548448426],[-0.3320618178301235,-1.370577340254605]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_13","position":[0.525060189046697,-1.1067233081679282,0.71338606911949],"aabb_xy":[[0.5146486303662133,-1.1120690415038263],[0.5354717477271808,-1.1013775748320296]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_14","position":[0.6210981137431333,-0.2861849361606943,0.71338606911949],"aabb_xy":[[0.5899511948995501,-0.35618493484750147],[0.6522450325867163,-0.21618493747388712]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_15","position":[-0.3346380850153657,-0.6764566226055919,0.71338606911949],"aabb_xy":[[-0.3507000124738833,-0.7614566244181836],[-0.31857615755684804,-0.591456620793]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_16","position":[0.45035341987858657,-0.39943391598201083,0.71338606911949],"aabb_xy":[[0.4274377069935367,-0.4223382131184344],[0.4732691327636365,-0.3765296188455874]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.14348790716564974,1.0876514623197209,0.71338606911949],"aabb_xy":[[0.06349408358709155,1.0076514597268793],[0.223481730744208,1.1676514649125624]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_18","position":[0.15529781385900765,1.611063258693623,0.71338606911949],"aabb_xy":[[0.12900898953856696,1.5847918250389716],[0.18158663817944828,1.6373346923482741]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.5601927696069433,1.0429161416537678,0.71338606911949],"aabb_xy":[[-0.5717617503538799,1.017916141536836],[-0.5486237888600067,1.0679161417706995]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_20","position":[-0.4047496614385228,0.10535402970845187,0.71338606911949],"aabb_xy":[[-0.41737644872571916,0.09580795600687897],[-0.39212287415132646,0.11490010341002477]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.3383109704622189,-2.2638232488006076,0.71338606911949],"aabb_xy":[[0.2883376764589584,-2.3138232493551545],[0.3882842644654793,-2.21382324824606]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[-0.0830345645635262,-1.3957640600530299,0.71338606911949],"aabb_xy":[[-0.11803456591500792,-1.4161237960098505],[-0.04803456321204446,-1.3754043240962088]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883729696354963,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/893.png","name":"893"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/893.png","name":"893"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3387.png","name":"3387"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2990.png","name":"2990"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8490.png","name":"8490"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7424.png","name":"7424"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":535.5514335281015,"rotation_z_degrees":294.5801003895426,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014597164995799536,0.007611026753123723,0.0019051350403521024]},{"name":"camera_2","offset_m":[0.016446371556715845,-0.00022997150171961273,-0.016647282905962905]},{"name":"camera_3","offset_m":[-0.005484375809175624,0.011673127400068244,-0.013411433752321806]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[1.8804075031522965e-05,-0.0012940752887802627,0.001044929787401711],"end_effector_yaw_offset_degrees":0.10791082304142718},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00043019790515079264,0.0007143608698868139,-0.00017525455771936387],"end_effector_yaw_offset_degrees":-0.6636800891886272},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007130871620907001,-0.001983850072869942,0.0016234056091074906],"end_effector_yaw_offset_degrees":-0.8046111242066034},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008567283016784354,-0.0007897599835432079,0.0006848487317459117],"end_effector_yaw_offset_degrees":-0.7851569641216067},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001517821016175494,0.0005920409306431462,-0.0009475814226964894],"end_effector_yaw_offset_degrees":0.3222126385081652},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009016837829261886,-0.001966327332796922,-0.0010711558307749244],"end_effector_yaw_offset_degrees":0.45199008721991296}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0005051267544768255,0.00155973221285327],"position_m":[0.14100512675447685,0.23625973221285326,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-5.426979569083702e-05,0.0025218552869616315],"position_m":[0.21354573020430917,-0.051178144713038366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001884574688820211,-0.002128426962026204],"position_m":[0.24721542531117977,-0.3855284269620262,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007551304398015143,-0.0011585357573808898],"position_m":[0.35435513043980155,0.1160414642426191,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb93f3e675c036bc6787fcfe40bb2f5ec62eee2bf74fbc060574135c59c7f3cf","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0004.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_893/tex_ceiling_textures_7424/tex_floor_textures_8490/tex_table_textures_3387/tex_wall_textures_2990","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1108918848888265214,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1108918848888265214,"visual_seed":1108918848888265214,"scene_id":"lab_003","finished_at":"2026-09-06T08:46:31"} +{"episode_id":"ep_000005","started_at":"2026-09-06T08:46:39","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_0","position":[-0.6369181846749559,-0.28015437103970164,0.71338606911949],"aabb_xy":[[-0.682196799556105,-0.3441543703878853],[-0.5916395697938065,-0.21615437169151797]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.28564556009585046,1.3606477272335558,0.71338606911949],"aabb_xy":[[-0.32244019322075673,1.3237418521369735],[-0.2488509269709442,1.397553602330138]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_2","position":[-0.11704339239257422,-2.1398687528869424,0.71338606911949],"aabb_xy":[[-0.12237590704718722,-2.145193081132178],[-0.11171087773796125,-2.1345444246417067]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_3","position":[0.6847150342239967,-1.792145513392644,0.71338606911949],"aabb_xy":[[0.6656027268660178,-1.811280292269886],[0.7038273415819756,-1.773010734515402]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_4","position":[0.2944158619130056,0.7536123442987854,0.71338606911949],"aabb_xy":[[0.22441585927641922,0.7335074793029198],[0.3644158645495919,0.7737172092946508]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_5","position":[0.3796674867009129,-0.5709275553638342,0.71338606911949],"aabb_xy":[[0.36679558319997274,-0.6509275557776704],[0.392539390201853,-0.4909275549499981]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_6","position":[-0.3590122871547741,-2.2743186631578602,0.71338606911949],"aabb_xy":[[-0.369852765381289,-2.2915049444485085],[-0.34817180892825916,-2.257132381867211]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.09456493573856506,-1.701543596836226,0.71338606911949],"aabb_xy":[[-0.1745649343258845,-1.780859198774387],[-0.014564937151245653,-1.6222279948980651]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_8","position":[-0.04881985729647298,1.3992783937572524,0.71338606911949],"aabb_xy":[[-0.11381985733077571,1.352577717076925],[0.01618014273782975,1.4459790704375797]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.14565329598343457,1.216489354514478,0.71338606911949],"aabb_xy":[[-0.1631999908995535,1.1789893529502267],[-0.12810660106731564,1.2539893560787292]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.6107794085019329,0.10617680961816411,0.71338606911949],"aabb_xy":[[0.5307794080317171,0.09786610200381576],[0.690779408972149,0.11448751723251252]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_11","position":[0.3275734325067803,-1.579399517782424,0.71338606911949],"aabb_xy":[[0.298924100146364,-1.6080450770594994],[0.35622276486719645,-1.5507539585053478]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_12","position":[-0.13234043051510624,-2.422329426477777,0.71338606911949],"aabb_xy":[[-0.18234043087567228,-2.4723094136873796],[-0.08234043015454016,-2.3723494392681737]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.5877695545039427,1.5909361996126994,0.71338606911949],"aabb_xy":[[0.5077695530738154,1.5114190446000897],[0.6677695559340698,1.6704533546253086]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.5519333366464627,0.8090476882835533,0.71338606911949],"aabb_xy":[[0.5019545281361467,0.7590476882778345],[0.6019121451567785,0.8590476882892721]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_15","position":[0.40733154652293857,1.384832097771235,0.71338606911949],"aabb_xy":[[0.36983154670590507,1.3801938864600931],[0.4448315463399722,1.3894703090823768]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.008932234088618318,1.2462428947172484,0.71338606911949],"aabb_xy":[[-0.05506776618535991,1.1961767945199604],[0.07293223436259655,1.2963089949145363]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.0018529599403367403,1.5350668605130884,0.71338606911949],"aabb_xy":[[-0.006173310690289258,1.5263153655357358],[0.009879230570962738,1.543818355490441]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_18","position":[0.06681535464324417,-2.268106462061426,0.71338606911949],"aabb_xy":[[-0.023184647690774884,-2.345588816646539],[0.15681535697726323,-2.1906241074763138]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_19","position":[-0.01966754933272752,-0.7635125381198671,0.71338606911949],"aabb_xy":[[-0.03555204259805267,-0.7778654784186911],[-0.0037830560674023683,-0.749159597821043]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_20","position":[0.4737113758262248,0.2674331598550337,0.71338606911949],"aabb_xy":[[0.4237113741647299,0.217434717599331],[0.5237113774877193,0.3174316021107364]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_21","position":[-0.1938479901371395,0.7861963263767247,0.71338606911949],"aabb_xy":[[-0.2050930457077573,0.7749545286526293],[-0.18260293456652163,0.7974381241008198]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_22","position":[0.14012790350652915,-1.3083367023805232,0.71338606911949],"aabb_xy":[[0.13284558712986544,-1.3983367059900318],[0.14741021988319275,-1.2183366987710138]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_23","position":[0.5762323037352721,1.222891964532114,0.71338606911949],"aabb_xy":[[0.538732303629679,1.2160698026791326],[0.613732303840865,1.2297141263850948]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[0.25904508110224644,-0.5474113797806912,0.71338606911949],"aabb_xy":[[0.2256049059062268,-0.5808550056116211],[0.292485256298266,-0.5139677539497609]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_25","position":[-0.18364098121014683,-0.671458231330283,0.71338606911949],"aabb_xy":[[-0.20491898935361907,-0.7364582336563561],[-0.16236297306667458,-0.60645822900421]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_26","position":[-0.2597136755186108,-0.8364892920870843,0.71338606911949],"aabb_xy":[[-0.32371367589614436,-0.8862345589378965],[-0.19571367514107713,-0.786744025236272]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_27","position":[-0.4917402102296262,-1.8150674530060473,0.71338606911949],"aabb_xy":[[-0.5004541792795606,-1.8375674536652353],[-0.4830262411796917,-1.7925674523468589]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_28","position":[-0.0792236117676135,-0.31400601366039327,0.71338606911949],"aabb_xy":[[-0.08480528340174226,-0.32650601347816877],[-0.07364194013348474,-0.30150601384261777]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_29","position":[-0.18386613737811686,-1.3728601051978322,0.71338606911949],"aabb_xy":[[-0.23886613699986267,-1.427843797985305],[-0.12886613775637099,-1.3178764124103595]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_30","position":[-0.3295818424880032,-0.36558448828879975,0.71338606911949],"aabb_xy":[[-0.3795549080205187,-0.4155844881013327],[-0.27960877695548775,-0.31558448847626686]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907453323254953,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1707.png","name":"1707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9089.png","name":"9089"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5227.png","name":"5227"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1345.png","name":"1345"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6002.png","name":"6002"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":518.217427191396,"rotation_z_degrees":168.98104913687527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012703185233345151,0.005956704049926282,-0.007860315464737724]},{"name":"camera_2","offset_m":[-0.006156543844547899,0.010366704288680095,0.011915938581967208]},{"name":"camera_3","offset_m":[0.0033714136886654616,-0.01100468593142316,0.003373468245136381]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018920687623041404,0.0018145712978796637,0.0017215350956133334],"end_effector_yaw_offset_degrees":-0.8072398876799076},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018876384433630581,0.0016614932567013364,-0.0016810741882068152],"end_effector_yaw_offset_degrees":0.4986224539538455},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002875820184488438,0.0002282278847721515,0.0015423938939581445],"end_effector_yaw_offset_degrees":0.5377324610069356},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015047075724609494,0.0013759308335507684,-0.001722438963811515],"end_effector_yaw_offset_degrees":0.1882830614351334},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001689877204076066,0.0018120178728375045,0.0011328735744054472],"end_effector_yaw_offset_degrees":0.017020122328579523},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009178634474139732,-0.0008894488321762907,0.0011181196045819677],"end_effector_yaw_offset_degrees":-0.7564393731239876}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00014698238734329756,-0.0029020674878469342],"position_m":[0.14035301761265673,0.23179793251215305,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002432923197436476,-0.0038998770203627275],"position_m":[0.2160329231974365,-0.057599877020362726,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007167852480624596,-0.004634277145209448],"position_m":[0.24838321475193753,-0.38803427714520944,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002878193536823756,0.002495481266101225],"position_m":[0.3564781935368238,0.11969548126610122,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"401d34d1c8b2e10cb1bf25a293159e5886bce65d59052fdffa40643066fdd082","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1707/tex_ceiling_textures_6002/tex_floor_textures_1345/tex_table_textures_9089/tex_wall_textures_5227","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1926992584954170001,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1926992584954170001,"visual_seed":1926992584954170001,"scene_id":"lab_003","finished_at":"2026-09-06T08:52:41"} +{"episode_id":"ep_000006","started_at":"2026-09-06T08:52:49","dimensions":{"distractor":{"count":31,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.6810965341250917,0.14900540101598292,0.71338606911949],"aabb_xy":[[-0.6918695080464595,0.1140054027969439],[-0.670323560203724,0.18400539923502188]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_1","position":[0.6314702288050464,0.6558922271957583,0.71338606911949],"aabb_xy":[[0.5514702302177269,0.5765766252575975],[0.7114702273923658,0.7352078291339192]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_2","position":[0.0004145607239115501,-1.7304726153873036,0.71338606911949],"aabb_xy":[[-0.030732358119671566,-1.8004726140741105],[0.031561479567494666,-1.6604726167004962]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_3","position":[0.023556510972059685,-1.2978998465213385,0.71338606911949],"aabb_xy":[[0.008384341690426341,-1.3130687034495419],[0.038728680253693026,-1.2827309895931351]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.593347673561338,0.22006362751832675,0.71338606911949],"aabb_xy":[[-0.627123232752031,0.2060251323051617],[-0.559572114370645,0.23410212273149175]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_5","position":[-0.4018465275509303,-0.22497907670073714,0.71338606911949],"aabb_xy":[[-0.4119995431050796,-0.2610486182734774],[-0.3916935119967808,-0.18890953512799674]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.5698569985313582,0.8954919564889252,0.71338606911949],"aabb_xy":[[-0.624856998153104,0.8405082637014526],[-0.5148569989096123,0.950475649276398]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_7","position":[0.30951603010574047,-2.2271314784395253,0.71338606911949],"aabb_xy":[[0.2617098624919718,-2.2921314811465843],[0.3573221977195091,-2.1621314757324663]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.09324571806602744,0.8406976326083266,0.71338606911949],"aabb_xy":[[0.02924571665803678,0.7889086810844018],[0.1572457194740181,0.8924865841322512]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[-0.4175887119577387,-1.870671199593417,0.71338606911949],"aabb_xy":[[-0.45258871026843417,-1.8783862145169625],[-0.3825887136470433,-1.8629561846698712]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_10","position":[0.5916147682020676,1.2036157089014887,0.71338606911949],"aabb_xy":[[0.561216657102924,1.173208806899819],[0.6220128793012112,1.234022610903158]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.4929234861144318,-1.757354382307352,0.71338606911949],"aabb_xy":[[0.4229234843056864,-1.7787081510715395],[0.5629234879231773,-1.7360006135431647]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.11080535479148124,0.5543058499502198,0.71338606911949],"aabb_xy":[[-0.11960741010045395,0.5464945237952906],[-0.10200329948250852,0.5621171761051488]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[0.13921708826622414,1.0105859248091558,0.71338606911949],"aabb_xy":[[0.11563196480232929,0.945585922563724],[0.162802211730119,1.0755859270545876]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.31492009094741724,-2.3834277559597865,0.71338606911949],"aabb_xy":[[-0.3427651277280244,-2.4142122546980986],[-0.2870750541668102,-2.3526432572214753]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[0.11620659451956572,-2.1881222890337617,0.71338606911949],"aabb_xy":[[0.026206595925095777,-2.2043728753471825],[0.20620659311403566,-2.171871702720341]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_16","position":[-0.41572859524187433,-0.41880580918010857,0.71338606911949],"aabb_xy":[[-0.4797285938284468,-0.4658127725796173],[-0.3517285966553019,-0.37179884578059985]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_17","position":[-0.08999396447474095,-1.6955821884199973,0.71338606911949],"aabb_xy":[[-0.09727628085140459,-1.7855821920295059],[-0.08271164809807728,-1.6055821848104879]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_18","position":[-0.668161142520164,-1.344973476309901,0.71338606911949],"aabb_xy":[[-0.6716018187602212,-1.3488349092842655],[-0.6647204662801068,-1.3411120433355366]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_19","position":[0.03897632555493313,-1.9816876337855656,0.71338606911949],"aabb_xy":[[0.03527306422579426,-1.985389652094283],[0.042679586884071995,-1.9779856154768471]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[0.5309780409800235,-0.9742391356201077,0.71338606911949],"aabb_xy":[[0.4934780401880281,-0.9806069765782978],[0.568478041772019,-0.9678712946619176]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_21","position":[-0.2501266163981839,1.2036167232962551,0.71338606911949],"aabb_xy":[[-0.2714046245416561,1.138616720970182],[-0.2288486082547116,1.2686167256223282]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.357934184116413,0.6532264649862531,0.71338606911949],"aabb_xy":[[0.31080480511457725,0.5892264639418511],[0.4050635631182486,0.717226466030655]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_23","position":[0.4855233060400741,-0.19770078765891608,0.71338606911949],"aabb_xy":[[0.4055233027822311,-0.27769729545090005],[0.565523309297917,-0.1177042798669321]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_24","position":[0.5363181800789334,-0.6910958856732443,0.71338606911949],"aabb_xy":[[0.5018558326807915,-0.7255897680710669],[0.5707805274770751,-0.6566020032754215]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.45799961100477216,-0.573210475993351,0.71338606911949],"aabb_xy":[[-0.5007663178841923,-0.6372104794151534],[-0.41523290412535196,-0.5092104725715485]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_26","position":[0.42869970216774456,1.0668393384652957,0.71338606911949],"aabb_xy":[[0.37870486923980295,1.0168393395700521],[0.47869453509568616,1.1168393373605392]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_27","position":[-0.47123800260864396,0.12858510333634676,0.71338606911949],"aabb_xy":[[-0.5512380005894291,0.12098356237449483],[-0.39123800462785896,0.1361866442981987]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_28","position":[-0.057425407407648676,0.4841494681837508,0.71338606911949],"aabb_xy":[[-0.09242540660046693,0.4731824221860881],[-0.022425408214830397,0.49511651418141334]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_29","position":[0.37921591404329646,0.8374360921647632,0.71338606911949],"aabb_xy":[[0.3567511440718914,0.8149360912859026],[0.40168068401470164,0.8599360930436236]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_30","position":[0.616617837574629,0.9906470037799799,0.71338606911949],"aabb_xy":[[0.5944453105979781,0.9684713366238566],[0.6387903645512798,1.012822670936103]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6833915573569528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1214.png","name":"1214"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1214.png","name":"1214"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3590.png","name":"3590"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4740.png","name":"4740"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/341.png","name":"341"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":554.1857331012712,"rotation_z_degrees":258.7521538822554,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013049105465368301,0.012681331608691216,0.009115764618064657]},{"name":"camera_2","offset_m":[0.01580715053082359,-0.01771883427176544,0.007855888276735931]},{"name":"camera_3","offset_m":[-0.005629834092231731,-0.017988561915726307,0.009919423474269825]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006895508579645312,-0.000146029468657892,0.0010808321817551655],"end_effector_yaw_offset_degrees":0.6286567057477404},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0018270502341851597,-0.0017751855735515278,0.0016741078874150067],"end_effector_yaw_offset_degrees":0.8880520598084658},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-3.7968214056233445e-05,2.214905401247023e-05,-0.001090858625169552],"end_effector_yaw_offset_degrees":-0.5524644258789135},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001375590997484895,-0.0005586588513414442,-0.0008116104431958378],"end_effector_yaw_offset_degrees":0.06929591148662917},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004599732374052684,-0.0013480293470954485,0.0007788248828340008],"end_effector_yaw_offset_degrees":0.19554160857615943},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-1.426854501018239e-05,0.0005321475075149595,-0.0005462130268130058],"end_effector_yaw_offset_degrees":0.8625569617514115}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004002455244518023,-0.00037093684217545143],"position_m":[0.14450245524451805,0.23432906315782454,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0003331809458460167,0.004979648051093146],"position_m":[0.21326681905415398,-0.04872035194890685,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004069886193240334,0.003549193906442553],"position_m":[0.24503011380675965,-0.3798508060935575,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00434949916938442,-0.004008841211543891],"position_m":[0.3492505008306156,0.1131911587884561,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"615132941413c6055ff4778f7fa1d987defb03e97c48d2552540d58b3b17d396","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1214/tex_ceiling_textures_341/tex_floor_textures_4740/tex_table_textures_2590/tex_wall_textures_3590","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":874536586311674860,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":874536586311674860,"visual_seed":874536586311674860,"scene_id":"lab_003","finished_at":"2026-09-06T08:58:38"} +{"episode_id":"ep_000007","started_at":"2026-09-06T08:58:44","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[-0.014960241496736248,-1.1690659714981089,0.71338606911949],"aabb_xy":[[-0.07496024134330304,-1.2258845936911473],[0.04503975834983054,-1.11224734930507]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.6577703600078373,-2.0444988546124936,0.71338606911949],"aabb_xy":[[0.6496426718145241,-2.0534124630232014],[0.6658980482011505,-2.035585246201786]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_2","position":[0.4849258960830152,-0.868157486639697,0.71338606911949],"aabb_xy":[[0.4474258976596148,-0.8813217006075277],[0.5224258945064155,-0.8549932726718664]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_3","position":[0.5869066773578808,0.8948086572146359,0.71338606911949],"aabb_xy":[[0.5792034866838037,0.8870992865158978],[0.5946098680319577,0.9025180279133738]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[0.38301793506713255,-1.3383887774405356,0.71338606911949],"aabb_xy":[[0.3190179377647861,-1.3827552044083922],[0.4470179323694789,-1.2940223504726787]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[0.4584576764585331,-0.5639090966816358,0.71338606911949],"aabb_xy":[[0.44974370740859854,-0.5864090973408239],[0.4671716455084675,-0.5414090960224475]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.6441395449494732,1.4747145438752889,0.71338606911949],"aabb_xy":[[-0.6549911511983488,1.4638552531476379],[-0.6332879387005976,1.48557383460294]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.21686900129801956,-1.0054327434726777,0.71338606911949],"aabb_xy":[[0.16689593576550413,-1.0554327432852109],[0.2668420668305351,-0.9554327436601451]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_8","position":[0.22930573889501715,-1.283632421778653,0.71338606911949],"aabb_xy":[[0.2198882643251544,-1.2930485989163718],[0.2387232134648799,-1.2742162446409337]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_9","position":[-0.09987288576738063,0.4277669212170019,0.71338606911949],"aabb_xy":[[-0.14987288520757625,0.3777989967326855],[-0.049872886327185006,0.47773484570131813]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_10","position":[-0.4443428457515627,-0.02090170555800075,0.71338606911949],"aabb_xy":[[-0.4681790633921678,-0.11090170636648725],[-0.4205066281109577,0.06909829525048573]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_11","position":[0.6746728842394198,-2.3750598340321467,0.71338606911949],"aabb_xy":[[0.6378223363024322,-2.41255983485518],[0.7115234321764075,-2.3375598332091125]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_12","position":[0.3565985283663424,-1.8863452776314025,0.71338606911949],"aabb_xy":[[0.33909852923197525,-1.89622490466899],[0.3740985275007096,-1.8764656505938144]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_13","position":[0.6483839595138468,-0.9167411342512093,0.71338606911949],"aabb_xy":[[0.598390847404655,-0.9667411349254051],[0.6983770716230387,-0.8667411335770139]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.11456672472528595,-0.7881126136347016,0.71338606911949],"aabb_xy":[[0.054566723864473136,-0.8395390436411878],[0.17456672558609873,-0.736686183628215]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_15","position":[-0.3164504021399329,0.7188104365285977,0.71338606911949],"aabb_xy":[[-0.3635797811417686,0.6548104354841956],[-0.26932102313809725,0.7828104375729995]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_16","position":[0.031015043939643938,1.437038015362679,0.71338606911949],"aabb_xy":[[-0.003984957411837796,1.4166782794058579],[0.06601504529112566,1.4573977513194996]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[-0.5195335427304419,-1.991547609428159,0.71338606911949],"aabb_xy":[[-0.5370802376465609,-2.0290476109924103],[-0.501986847814323,-1.9540476078639077]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.10457744091782462,-1.9807939554618386,0.71338606911949],"aabb_xy":[[-0.11067206880594295,-1.9893633500135075],[-0.09848281302970631,-1.97222456091017]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_19","position":[-0.28555270222261414,-0.23120097078102253,0.71338606911949],"aabb_xy":[[-0.3555527040313596,-0.2525547395452099],[-0.2155527004138687,-0.20984720201683515]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.23340356239489468,-2.498585751643786,0.71338606911949],"aabb_xy":[[0.19485786956969364,-2.537131522699975],[0.2719492552200957,-2.4600399805875974]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_21","position":[-0.39011501391308395,0.2325777569676717,0.71338606911949],"aabb_xy":[[-0.40790852084800033,0.21477801137187402],[-0.37232150697816746,0.25037750256346936]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.4662671765789297,0.7689305598332177,0.71338606911949],"aabb_xy":[[-0.4837671758570165,0.7515924597668716],[-0.44876717730084276,0.7862686598995635]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.17842571162500487,-1.6632320471857973,0.71338606911949],"aabb_xy":[[-0.2284257126441402,-1.6996982629236255],[-0.12842571060586963,-1.6267658314479696]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_24","position":[-0.17818332766400602,-0.7501914168444117,0.71338606911949],"aabb_xy":[[-0.18364127330102611,-0.8301914201520708],[-0.17272538202698598,-0.6701914135367526]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_25","position":[0.4344580367651747,-0.4236342899365537,0.71338606911949],"aabb_xy":[[0.37045803485283235,-0.47954543919456416],[0.49845803867751703,-0.3677231406785433]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[0.5600074560344648,-1.7235270278798325,0.71338606911949],"aabb_xy":[[0.4700074566160939,-1.7569025247240218],[0.6500074554528357,-1.6901515310356423]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_27","position":[0.020797220421954532,-1.5858691077712097,0.71338606911949],"aabb_xy":[[-0.043202778747815404,-1.6326357948901722],[0.08479721959172447,-1.5391024206522472]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_28","position":[-0.09686094616108853,-2.5025199169116865,0.71338606911949],"aabb_xy":[[-0.10289795916175327,-2.5085466179806346],[-0.09082393316042381,-2.4964932158427384]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909257204950329,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8004.png","name":"8004"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9649.png","name":"9649"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5036.png","name":"5036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9273.png","name":"9273"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7073.png","name":"7073"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":824.8768127469683,"rotation_z_degrees":54.90790042973784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0110948077277995,0.00040752721267259956,-0.00648485392967825]},{"name":"camera_2","offset_m":[-0.018167153861041528,-0.0011382005099269676,-0.0025059092083854137]},{"name":"camera_3","offset_m":[-0.0007085775124466703,-0.0012926912703428682,0.004856095968879714]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001991574265584793,0.0015794902823522859,0.0005622393257966891],"end_effector_yaw_offset_degrees":-0.4421030366497509},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0006686736042911981,0.0003198732615845813,-0.0010184494045870815],"end_effector_yaw_offset_degrees":0.48886698815720564},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00024453823350916847,-5.456968770067849e-05,0.001365136741337918],"end_effector_yaw_offset_degrees":-0.8201451712310541},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008744103038856453,-0.0018464398380657002,0.0015604103166190764],"end_effector_yaw_offset_degrees":0.8713990140104522},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001570851472298477,0.00078092616367247,0.0010614323650702594],"end_effector_yaw_offset_degrees":0.9347771482926222},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00047522049569052914,-0.0012527678662860252,-0.0014636555104975476],"end_effector_yaw_offset_degrees":0.290723618722899}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00014112326637680944,-0.004789492838658257],"position_m":[0.14064112326637682,0.22991050716134173,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0027011900238921105,0.004579369102162874],"position_m":[0.2108988099761079,-0.04912063089783712,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003976340390979153,0.0020416845590658607],"position_m":[0.25307634039097915,-0.3813583154409342,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004822750564509895,-0.0008151317178770314],"position_m":[0.3584227505645099,0.11638486828212297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dfe1a92d120f8c384f46bf53cdef18b6fbf244dc030d49df3882bc26e888aea1","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0007.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8004/tex_ceiling_textures_7073/tex_floor_textures_9273/tex_table_textures_9649/tex_wall_textures_5036","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":494607399184308958,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":494607399184308958,"visual_seed":494607399184308958,"scene_id":"lab_003","finished_at":"2026-09-06T09:05:42"} +{"episode_id":"ep_000008","started_at":"2026-09-06T09:05:49","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.11205612412686305,1.736461539179745,0.71338606911949],"aabb_xy":[[0.04805612244886569,1.6879441477004309],[0.1760561258048604,1.7849789306590593]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_1","position":[0.40113859722471434,-2.243388152868146,0.71338606911949],"aabb_xy":[[0.3934354065506372,-2.2510975235668838],[0.4088417878987913,-2.2356787821694075]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.3381375026187023,-0.7958301610638991,0.71338606911949],"aabb_xy":[[-0.36268371824145296,-0.8260790576129361],[-0.3135912869959515,-0.765581264514862]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[-0.43622663903681297,-2.4743525042577437,0.71338606911949],"aabb_xy":[[-0.4727224596640917,-2.5108364466845012],[-0.3997308184095342,-2.437868561830986]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_4","position":[-0.4401676147824182,1.0157447727160744,0.71338606911949],"aabb_xy":[[-0.5041676120847647,0.9713783457482177],[-0.37616761748007177,1.0601111996839312]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.4237255139465279,-0.6922323268993569,0.71338606911949],"aabb_xy":[[0.37659613494469224,-0.7562323279437587],[0.4708548929483636,-0.6282323258549548]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_6","position":[-0.5615438675486281,1.7250714611039197,0.71338606911949],"aabb_xy":[[-0.6255438679261618,1.6753261942531075],[-0.49754386717109456,1.774816727954732]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_7","position":[-0.5432189630705642,-2.231781689275437,0.71338606911949],"aabb_xy":[[-0.6132189646728436,-2.2452144824770945],[-0.4732189614682847,-2.2183488960737794]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_8","position":[0.1874489319351661,-1.702927511791078,0.71338606911949],"aabb_xy":[[0.1787509696444508,-1.715052486098553],[0.1961468942258814,-1.6908025374836035]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.14517780837726169,-0.6170647542004024,0.71338606911949],"aabb_xy":[[-0.19517780702318288,-0.6669842978598647],[-0.09517780973134049,-0.5671452105409399]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_10","position":[0.58581525628211,-0.7938157027080146,0.71338606911949],"aabb_xy":[[0.5804827416274969,-0.7991400309532501],[0.591147770936723,-0.7884913744627791]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_11","position":[0.43678837019692085,-2.052842334042391,0.71338606911949],"aabb_xy":[[0.38178837057517506,-2.107826026829864],[0.49178836981866675,-1.9978586412549184]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[-0.1497582494189864,1.2634129793030082,0.71338606911949],"aabb_xy":[[-0.1577522379966898,1.2554128992079174],[-0.14176426084128302,1.2714130593980981]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_13","position":[0.19003841632366303,-0.7591485513045431,0.71338606911949],"aabb_xy":[[0.15964030522451944,-0.7895554533062126],[0.22043652742280662,-0.7287416493028736]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_14","position":[-0.15794559637123262,0.3674411858657005,0.71338606911949],"aabb_xy":[[-0.1754455956493195,0.35010308579935456],[-0.14044559709314575,0.38477928593204647]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[-0.543004381407978,-0.20678544029514345,0.71338606911949],"aabb_xy":[[-0.5517856085552143,-0.21556518758367368],[-0.534223154260742,-0.1980056930066134]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_16","position":[-0.45818099635767773,0.2764946681333078,0.71338606911949],"aabb_xy":[[-0.5381809985204402,0.19653948450716419],[-0.3781809941949152,0.35644985175945143]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_17","position":[-0.24228859041040074,0.529955861116119,0.71338606911949],"aabb_xy":[[-0.3022885902569675,0.47313723892308035],[-0.18228859056383392,0.5867744833091577]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_18","position":[-0.6032439708909865,-1.1352572787604283,0.71338606911949],"aabb_xy":[[-0.6832377944695447,-1.2152572813532698],[-0.5232501473124282,-1.0552572761675867]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_19","position":[0.6054961611473777,0.4012141437730379,0.71338606911949],"aabb_xy":[[0.5879961609023282,0.383714355933471],[0.622996161392427,0.4187139316126047]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.36036570585003125,-0.45363835861679247,0.71338606911949],"aabb_xy":[[-0.4243657078997632,-0.49373284170610043],[-0.2963657038002992,-0.4135438755274845]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_21","position":[-0.39757583447779177,0.46228431704390704,0.71338606911949],"aabb_xy":[[-0.45254955651412476,0.4072843174796739],[-0.342602112441459,0.5172843166081402]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6910521449645888,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8554.png","name":"8554"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8554.png","name":"8554"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/514.png","name":"514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7527.png","name":"7527"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3146.png","name":"3146"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/552.png","name":"552"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.8625991595461,"rotation_z_degrees":22.376515542827335,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01794219514235788,-0.0025508043149175125,-0.006887187517816855]},{"name":"camera_2","offset_m":[-0.0020722186099486166,0.012505091594546661,-0.004936187288230193]},{"name":"camera_3","offset_m":[-0.019414320186849073,0.015349805430669609,-0.010036885228647803]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0010454525747448829,0.0019538560156059275,0.0010976544250716996],"end_effector_yaw_offset_degrees":0.7535244351991044},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018919561944193157,0.0006862691579029349,-0.0010126755365641835],"end_effector_yaw_offset_degrees":0.9794116526312535},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000668455969238826,0.000783075318052202,-0.00014287881254057403],"end_effector_yaw_offset_degrees":0.1758038312192649},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004678474273898999,-0.0018713805600957274,0.0012503154229749165],"end_effector_yaw_offset_degrees":-0.5301792119853095},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008887626345938766,0.0010577793143372906,-0.0014493784348446233],"end_effector_yaw_offset_degrees":-0.33733406187407766},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000846928375235177,0.0011953949303964858,-0.0006323320256435413],"end_effector_yaw_offset_degrees":0.3537886844411626}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0030975744546360784,-0.0028136398741452594],"position_m":[0.14359757445463608,0.23188636012585473,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008255138688198329,0.0013443968722704133],"position_m":[0.2127744861311802,-0.052355603127729584,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00018464307423818587,-0.003851229295448837],"position_m":[0.24928464307423817,-0.38725122929544886,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004257541489301441,-0.00020912250667704316],"position_m":[0.34934245851069856,0.11699087749332296,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f159eea90124716bfd0a0f32423e61e97eb8b86062bdc561ac042add6cb9a239","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0008.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8554/tex_ceiling_textures_552/tex_floor_textures_3146/tex_table_textures_514/tex_wall_textures_7527","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8411036488270965118,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8411036488270965118,"visual_seed":8411036488270965118,"scene_id":"lab_003","finished_at":"2026-09-06T09:12:38"} +{"episode_id":"ep_000009","started_at":"2026-09-06T09:12:45","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_0","position":[-0.15076373374589025,-0.7323900305949531,0.71338606911949],"aabb_xy":[[-0.23076373517601745,-0.8119071856075625],[-0.07076373231576305,-0.6528728755823435]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.4935672512316618,1.1973585899128962,0.71338606911949],"aabb_xy":[[0.42956725411955604,1.1483262201184856],[0.5575672483437675,1.2463909597073068]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_2","position":[0.5227770544287564,-2.2701117862946663,0.71338606911949],"aabb_xy":[[0.5056749764703883,-2.287218591825936],[0.5398791323871246,-2.2530049807633965]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_3","position":[-0.502599859014932,-0.11363523648778395,0.71338606911949],"aabb_xy":[[-0.5665998581847018,-0.16040192360674643],[-0.438599859845162,-0.06686854936882147]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[0.3585025393076293,0.8769875473874431,0.71338606911949],"aabb_xy":[[0.3085075283481773,0.8269875483518516],[0.4084975502670814,0.926987546423035]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_5","position":[-0.05514115370500339,-1.4418726107043418,0.71338606911949],"aabb_xy":[[-0.10514042887343955,-1.4918726119802892],[-0.005141878536567224,-1.3918726094283949]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.061115881699727925,-1.4300632149048105,0.71338606911949],"aabb_xy":[[0.03589504483988826,-1.455286965757697],[0.0863367185595676,-1.4048394640519235]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_7","position":[0.23764079089437906,-2.2837547481114115,0.71338606911949],"aabb_xy":[[0.15264079220230442,-2.31574061150629],[0.3226407895864537,-2.2517688847165322]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[-0.32991085502708556,-0.8692730302075178,0.71338606911949],"aabb_xy":[[-0.3474108541614527,-0.8791526572451055],[-0.31241085589271833,-0.8593934031699298]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[0.6297692132746531,1.228558916528066,0.71338606911949],"aabb_xy":[[0.6122225183585343,1.1910589149638147],[0.6473159081907721,1.2660589180923172]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_10","position":[-0.25833964810190657,-1.8610929962101985,0.71338606911949],"aabb_xy":[[-0.26875120678239023,-1.8664387295460967],[-0.2479280894214228,-1.8557472628743]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_11","position":[0.38589585230774426,-0.6357974919720106,0.71338606911949],"aabb_xy":[[0.3726649067730629,-0.6490249109940099],[0.3991267978424255,-0.6225700729500111]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_12","position":[0.28012691145576707,0.5328987425542304,0.71338606911949],"aabb_xy":[[0.2101269150458052,0.5124608069025485],[0.35012690786572875,0.5533366782059119]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_13","position":[-0.24011208235774295,1.0840597861127055,0.71338606911949],"aabb_xy":[[-0.26261208236789124,1.0699635664731022],[-0.2176120823475947,1.0981560057523088]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_14","position":[0.6054756484304309,-1.593205033130161,0.71338606911949],"aabb_xy":[[0.5967616793804963,-1.6157050337893493],[0.6141896174803653,-1.5707050324709728]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.2166170559400422,1.6922839338235325,0.71338606911949],"aabb_xy":[[-0.24658461284986788,1.6622839335256465],[-0.18664949903021655,1.722283934121418]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_16","position":[0.6642947942115862,-2.0228173138064762,0.71338606911949],"aabb_xy":[[0.6143159857012702,-2.072817313812195],[0.714273602721902,-1.9728173138007574]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.27679309564561605,1.2874191740785816,0.71338606911949],"aabb_xy":[[0.2127930924269782,1.2406960621795733],[0.3407930988642539,1.33414228597759]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[0.0793914269777114,-0.647296624118971,0.71338606911949],"aabb_xy":[[0.06678872784063494,-0.6598920203438366],[0.09199412611478786,-0.6347012278941057]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[0.4016148110545259,-2.481974692909354,0.71338606911949],"aabb_xy":[[0.3641148108826539,-2.514675428292261],[0.4391148112263978,-2.449273957526447]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[0.007190834686423009,0.7714766551823384,0.71338606911949],"aabb_xy":[[-0.007911466774595088,0.7563751335512764],[0.022293136147441103,0.7865781768134]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_21","position":[-0.4916885129032443,-0.3081509601043191,0.71338606911949],"aabb_xy":[[-0.5716885139763646,-0.31792900644170347],[-0.41168851183012395,-0.2983729137669346]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_22","position":[0.5064246319834644,0.2822410310325081,0.71338606911949],"aabb_xy":[[0.4164246352478542,0.22905756771521357],[0.5964246287190746,0.3354244943498026]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_23","position":[-0.6600976848234871,0.2725376719629504,0.71338606911949],"aabb_xy":[[-0.6656793564576158,0.2600376721451749],[-0.6545160131893584,0.2850376717807259]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.0018612590557182118,-1.7117459513584903,0.71338606911949],"aabb_xy":[[-0.008706220602380799,-1.7222909814714988],[0.012428738713817222,-1.7012009212454817]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_25","position":[-0.5052551461654113,-1.0035204150617103,0.71338606911949],"aabb_xy":[[-0.5652551464168125,-1.0578017400981747],[-0.44525514591401016,-0.9492390900252454]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_26","position":[-0.37041541823026913,-2.1752961108602693,0.71338606911949],"aabb_xy":[[-0.4079154168058899,-2.188032406523827],[-0.33291541965464827,-2.162559815196711]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_27","position":[-0.5718614733106373,-1.3874370789879897,0.71338606911949],"aabb_xy":[[-0.6001911832591775,-1.3918978211817068],[-0.5435317633620971,-1.3829763367942727]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_28","position":[-0.3401361570701412,0.5892226701866257,0.71338606911949],"aabb_xy":[[-0.36264984889359836,0.519222669585618],[-0.31762246524668397,0.6592226707876331]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_29","position":[-0.23736254248017857,-1.220981805336588,0.71338606911949],"aabb_xy":[[-0.2826411573613278,-1.2849818046847716],[-0.19208392759902929,-1.1569818059884043]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_30","position":[0.530405500269834,0.7621649110375652,0.71338606911949],"aabb_xy":[[0.45040550330679485,0.6850892693937917],[0.6104054972328732,0.8392405526813386]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_31","position":[0.5116484607637808,0.488992597994379,0.71338606911949],"aabb_xy":[[0.4891520393299167,0.46649259818763156],[0.5341448821976449,0.5114925978011264]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_32","position":[-0.4075043476686393,-0.8788140984787229,0.71338606911949],"aabb_xy":[[-0.41520753834271634,-0.8865234691774608],[-0.39980115699456226,-0.8711047277799848]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_33","position":[0.07276019546483647,-1.94908963606025,0.71338606911949],"aabb_xy":[[0.03526019552107007,-1.9573827260950867],[0.11026019540860288,-1.9407965460254135]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6897842032404148,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6519.png","name":"6519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6519.png","name":"6519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1930.png","name":"1930"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5710.png","name":"5710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7064.png","name":"7064"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2110.png","name":"2110"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":626.3131531211059,"rotation_z_degrees":84.24294818981004,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005173170926913145,-0.009515060864881587,-0.002751024617785199]},{"name":"camera_2","offset_m":[0.010390039180155807,-0.016495578495831574,0.014918685276775905]},{"name":"camera_3","offset_m":[0.008123911623097179,0.0041437491956386185,-0.012563037675118727]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013299511100647158,-0.0015970880870656511,-0.0001206413377453806],"end_effector_yaw_offset_degrees":0.13050763545200716},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.000567315888282936,-0.0010562997830739218,-0.0006517558144193086],"end_effector_yaw_offset_degrees":-0.19579179104105848},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001912875232881083,0.0003988203233596167,0.0017722404568662423],"end_effector_yaw_offset_degrees":0.013925294867032534},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010479161741324722,-0.0006469196719199647,0.001289793241871907],"end_effector_yaw_offset_degrees":0.5271880009232373},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017154409190830678,0.0014164279709457475,0.001561961155231456],"end_effector_yaw_offset_degrees":0.19815005989531742},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000953476096886532,0.00021358611060018264,-0.0008776302157289843],"end_effector_yaw_offset_degrees":-0.2781632538914678}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033378917925273198,-0.0019939561867541957],"position_m":[0.13716210820747268,0.2327060438132458,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004839322328146179,0.002508933551288386],"position_m":[0.20876067767185383,-0.05119106644871161,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004553273801411459,0.004991511662567863],"position_m":[0.25365327380141145,-0.3784084883374322,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004019062580637634,0.0010418030103411299],"position_m":[0.3495809374193624,0.11824180301034112,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"69ab41a521ee44ff6e636877eb91e10ef5f684b3d7572ea7b26bd84825adf0dd","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0009.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6519/tex_ceiling_textures_2110/tex_floor_textures_7064/tex_table_textures_1930/tex_wall_textures_5710","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":435404284559267172,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":435404284559267172,"visual_seed":435404284559267172,"scene_id":"lab_003","finished_at":"2026-09-06T09:18:57"} +{"episode_id":"ep_000010","started_at":"2026-09-06T09:19:02","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_0","position":[-0.5440479481292492,0.8824703866532158,0.71338606911949],"aabb_xy":[[-0.560958680565591,0.8689981810606011],[-0.5271372156929074,0.8959425922458302]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[-0.33697126785894904,-0.6160930133329607,0.71338606911949],"aabb_xy":[[-0.41697126832916503,-0.6244037209473091],[-0.2569712673887331,-0.6077823057186124]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[-0.11865332878883839,1.4063901911703534,0.71338606911949],"aabb_xy":[[-0.1256936387223754,1.3263901917706822],[-0.11161301885530142,1.486390190570025]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_3","position":[-0.6412948953921199,0.992687317242066,0.71338606911949],"aabb_xy":[[-0.6513766024706934,0.9126873193499513],[-0.6312131883135464,1.0726873151341807]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.5152245896800876,1.0384071819267504,0.71338606911949],"aabb_xy":[[0.4777245912566871,1.0252429679589194],[0.5527245881034878,1.051571395894581]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_5","position":[-0.5941869998846102,1.492576360239076,0.71338606911949],"aabb_xy":[[-0.6142454114978504,1.4725112733299186],[-0.5741285882713698,1.5126414471482335]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_6","position":[-0.6221349639620397,0.7798144266678557,0.71338606911949],"aabb_xy":[[-0.6556141312230807,0.7463353132967487],[-0.5886557967009988,0.8132935400389627]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_7","position":[-0.542708096086598,0.48748266979378485,0.71338606911949],"aabb_xy":[[-0.5605772038410535,0.473649761816574],[-0.5248389883321425,0.5013155777709959]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_8","position":[-0.43898047704037746,-2.329176773161319,0.71338606911949],"aabb_xy":[[-0.4701273958839605,-2.3991767718481256],[-0.4078335581967943,-2.2591767744745113]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[0.47381912478063337,-1.0821967709685325,0.71338606911949],"aabb_xy":[[0.40981912273090143,-1.1222912540578405],[0.5378191268303654,-1.0421022878792245]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_10","position":[0.4371656315834087,0.4161407698210966,0.71338606911949],"aabb_xy":[[0.3571656294206462,0.336185586194953],[0.5171656337461712,0.4960959534472402]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_11","position":[0.17266948489678902,1.4498241659075144,0.71338606911949],"aabb_xy":[[0.15015579307333182,1.3798241653065066],[0.1951831767202462,1.5198241665085217]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_12","position":[0.5062797648088386,1.1980633746345437,0.71338606911949],"aabb_xy":[[0.4810589279489989,1.1728396237816567],[0.5315006016686782,1.2232871254874302]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.5621919511265132,-1.2328252903934949,0.71338606911949],"aabb_xy":[[0.5509468955558955,-1.2440670881175901],[0.5734370066971312,-1.2215834926693996]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.14065441290723502,-1.8273540203753473,0.71338606911949],"aabb_xy":[[0.05065441057321593,-1.9048363749604602],[0.23065441524125405,-1.749871665790235]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.036188523658746585,-2.2689826224305745,0.71338606911949],"aabb_xy":[[-0.058688523668894876,-2.2830788420701777],[-0.013688523648598294,-2.254886402790971]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[0.34592758117054,-1.9832385269758124,0.71338606911949],"aabb_xy":[[0.3209275820049069,-1.9901907726811687],[0.3709275803361731,-1.9762862812704556]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_17","position":[-0.39882767500953364,-1.8999349773839442,0.71338606911949],"aabb_xy":[[-0.44491276626426507,-1.9639349746364996],[-0.3527425837548021,-1.8359349801313893]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_18","position":[-0.1681653868117876,-1.7953208594964676,0.71338606911949],"aabb_xy":[[-0.17426001469990593,-1.8038902540481365],[-0.1620707589236693,-1.786751464944799]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.28778524764606517,1.5148250466956736,0.71338606911949],"aabb_xy":[[0.23779213553687334,1.464825046021478],[0.3377783597552571,1.5648250473698695]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_20","position":[0.12232177184367854,-1.581274665957874,0.71338606911949],"aabb_xy":[[0.08732177049219682,-1.6016344019146946],[0.15732177319516027,-1.560914930001053]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_21","position":[0.016577260539862193,1.518600450087988,0.71338606911949],"aabb_xy":[[0.011239684873857621,1.4936004491588484],[0.021914836205866758,1.543600451017128]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_22","position":[-0.6228290229403295,0.1643964774690465,0.71338606911949],"aabb_xy":[[-0.6403290222184164,0.14705837740270053],[-0.6053290236622426,0.18173457753539243]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[-0.26461389565159305,1.2866032012352009,0.71338606911949],"aabb_xy":[[-0.30989251053274225,1.2226032018870172],[-0.21933528077044373,1.3506032005833846]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_24","position":[-0.4473193491276325,1.4858411549363306,0.71338606911949],"aabb_xy":[[-0.45773090780811604,1.480495421600432],[-0.4369077904471486,1.4911868882722288]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_25","position":[-0.6318848344703223,-0.4544958193650235,0.71338606911949],"aabb_xy":[[-0.6662011116449401,-0.5044958193382012],[-0.5975685572957042,-0.40449581939184576]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_26","position":[0.6859359602344222,0.250829332187573,0.71338606911949],"aabb_xy":[[0.6818200101223494,0.24671377715472742],[0.6900519103464947,0.2549448872204184]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[-0.05281928460121743,-1.9188814724484755,0.71338606911949],"aabb_xy":[[-0.06746269015525042,-1.9335401921052593],[-0.03817587904718445,-1.9042227527916908]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.41845689859116697,-1.4309780627398663,0.71338606911949],"aabb_xy":[[0.3284568991727961,-1.4643535595840556],[0.5084568980095379,-1.397602565895676]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.368178413591607,0.270441454566531,0.71338606911949],"aabb_xy":[[-0.4321784152696044,0.22192406308721674],[-0.30417841191360967,0.3189588460458452]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[0.2103113563970267,1.7300079258906176,0.71338606911949],"aabb_xy":[[0.14872059717303393,1.666007927781571],[0.27190211562101957,1.7940079239996647]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_31","position":[0.5033514037400746,0.08465445506012648,0.71338606911949],"aabb_xy":[[0.4233514063364811,0.004661883861943674],[0.5833514011436679,0.1646470262583093]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_32","position":[-0.06714617883424279,-1.4417766607231108,0.71338606911949],"aabb_xy":[[-0.13214617886854552,-1.4884773374034381],[-0.002146178799940071,-1.3950759840427835]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_33","position":[0.5209404943893592,0.2609244757203584,0.71338606911949],"aabb_xy":[[0.49642687029235333,0.23665988241832192],[0.545454118486365,0.2851890690223948]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_34","position":[0.48055325910526414,-0.5315291268712801,0.71338606911949],"aabb_xy":[[0.4435191496772043,-0.5659063342049894],[0.5175873685333238,-0.4971519195375705]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6925006152141066,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1842.png","name":"1842"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1842.png","name":"1842"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4296.png","name":"4296"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2552.png","name":"2552"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1622.png","name":"1622"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9445.png","name":"9445"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":718.7439014290528,"rotation_z_degrees":301.2059119770084,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008407572428821588,-0.005718041984320505,-0.00940810334309143]},{"name":"camera_2","offset_m":[0.005680521323036817,-0.012396341391883033,-0.006460184317574651]},{"name":"camera_3","offset_m":[-0.012041482574113416,-0.014803582200990362,-0.016633068803015228]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019392547138075812,-0.001862539552879456,-0.00036282546289068346],"end_effector_yaw_offset_degrees":-0.5307832709925873},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0010492395092674541,-0.00041031884485226346,0.0005836548504645806],"end_effector_yaw_offset_degrees":0.500724878386275},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014499117667593326,-0.0006823962936152804,4.026224272941654e-06],"end_effector_yaw_offset_degrees":-0.11415875552382126},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001347389057456086,0.001336420880389042,-0.00020942397350200582],"end_effector_yaw_offset_degrees":0.9080829523680185},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00024981329348858997,4.833067258374702e-05,0.001548681828003664],"end_effector_yaw_offset_degrees":0.6737957939331389},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00026382138881362585,-0.0012872607056911602,0.0003855793242220516],"end_effector_yaw_offset_degrees":-0.01473041348070514}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002897582770942938,0.0013630232368806042],"position_m":[0.13760241722905708,0.2360630232368806,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[7.867182732000481e-05,-0.0021725768219709686],"position_m":[0.21367867182732,-0.055872576821970964,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017368155036378771,-0.004141438842654013],"position_m":[0.25083681550363784,-0.387541438842654,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004031491676153365,0.003782553801795245],"position_m":[0.3576314916761534,0.12098255380179525,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5583b5ef55ce7a32c8e3bd62d31a07244a4917f69f6aa32da99253f282b8845a","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0010.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1842/tex_ceiling_textures_9445/tex_floor_textures_1622/tex_table_textures_4296/tex_wall_textures_2552","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7214628291298393469,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7214628291298393469,"visual_seed":7214628291298393469,"scene_id":"lab_003","finished_at":"2026-09-06T09:25:11"} +{"episode_id":"ep_000011","started_at":"2026-09-06T09:25:17","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_0","position":[0.3511903512363559,-1.852756143361821,0.71338606911949],"aabb_xy":[[0.34585783658174296,-1.8580804716070565],[0.35652286589096893,-1.8474318151165854]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_1","position":[0.09015603848346931,1.3127889260287517,0.71338606911949],"aabb_xy":[[0.04017862161821573,1.262788924539503],[0.1401334553487229,1.362788927518]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[-0.3152672975622771,-2.219181962722914,0.71338606911949],"aabb_xy":[[-0.33227739485232777,-2.235316451221188],[-0.29825720027222646,-2.20304747422464]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_3","position":[0.5734238763097725,0.8871391945870863,0.71338606911949],"aabb_xy":[[0.5094238742600405,0.8470447114977784],[0.6374238783595045,0.9272336776763943]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.4830820521617327,0.20110836695206524,0.71338606911949],"aabb_xy":[[0.4190863547666361,0.13710836865135653],[0.5470777495568293,0.2651083652527739]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[-0.1654798851514525,0.44601273021672494,0.71338606911949],"aabb_xy":[[-0.1703234799126825,0.4411610777377408],[-0.16063629039022256,0.45086438269570905]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[0.5320710784912179,-1.7986156546596064,0.71338606911949],"aabb_xy":[[0.5207093438379317,-1.8099841210658942],[0.543432813144504,-1.787247188253318]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_7","position":[-0.1982377656651781,-0.8062957033205844,0.71338606911949],"aabb_xy":[[-0.23573776595735288,-0.8103371787211882],[-0.16073776537300324,-0.8022542279199809]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_8","position":[-0.189815586490105,0.6715729531197514,0.71338606911949],"aabb_xy":[[-0.22731558767489776,0.6671547304236908],[-0.15231558530531217,0.6759911758158118]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_9","position":[0.08343500706398377,-0.6609001420345393,0.71338606911949],"aabb_xy":[[0.048435008753288336,-0.6686151569580849],[0.11843500537467923,-0.6531851271109936]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.151893623983965,0.7218170462530424,0.71338606911949],"aabb_xy":[[0.1268936247120027,0.7054716826568801],[0.17689362325592725,0.7381624098492048]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_11","position":[0.37244547267996064,-1.510004917891841,0.71338606911949],"aabb_xy":[[0.3124454724285594,-1.5642862429283058],[0.43244547293136176,-1.4557235928553764]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_12","position":[-0.04438485648761037,-1.0402320788320685,0.71338606911949],"aabb_xy":[[-0.0531660836348466,-1.049011826120599],[-0.03560362934037414,-1.0314523315435384]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_13","position":[-0.21638433195241225,-1.5969741970362814,0.71338606911949],"aabb_xy":[[-0.27138433112900173,-1.651963871811239],[-0.16138433277582273,-1.5419845222613238]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.5716379854459342,1.0910326360371383,0.71338606911949],"aabb_xy":[[-0.6016296481798045,1.0610326367003375],[-0.5416463227120638,1.1210326353739386]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.29032012888592107,1.3817956824989421,0.71338606911949],"aabb_xy":[[0.24532012741969222,1.3367958256374617],[0.3353201303521499,1.426795539360423]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_16","position":[-0.09061103634350798,-2.0217980335815042,0.71338606911949],"aabb_xy":[[-0.11310745777737209,-2.0442980333882517],[-0.06811461490964389,-1.9992980337747568]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[0.21427928493729476,1.6412188122824083,0.71338606911949],"aabb_xy":[[0.1342792875337013,1.5612262410842257],[0.2942792823408881,1.7212113834805913]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_18","position":[0.2706307965536775,-2.462767626052386,0.71338606911949],"aabb_xy":[[0.2206519880433616,-2.5127676260581047],[0.3206096050639934,-2.412767626046667]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_19","position":[-0.49330416655567566,-2.331927141881998,0.71338606911949],"aabb_xy":[[-0.5573041687760827,-2.3763002260072863],[-0.4293041643352687,-2.2875540577567097]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[-0.5602256946527845,0.908979987833634,0.71338606911949],"aabb_xy":[[-0.5693855735966611,0.902448769790097],[-0.5510658157089079,0.9155112058771712]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.5143273453042958,-2.1992847160819595,0.71338606911949],"aabb_xy":[[0.44432734266770935,-2.2193895810778246],[0.584327347940882,-2.1791798510860936]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_22","position":[-0.6692647565795088,-1.1443276274993093,0.71338606911949],"aabb_xy":[[-0.6757663930875134,-1.1540954495256193],[-0.6627631200715042,-1.1345598054729997]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6864379124067055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/648.png","name":"648"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/648.png","name":"648"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1543.png","name":"1543"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8201.png","name":"8201"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1175.png","name":"1175"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6566.png","name":"6566"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":601.2708745802386,"rotation_z_degrees":292.5929929674293,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015531148077370657,-0.009016880424426903,-0.01646045922853155]},{"name":"camera_2","offset_m":[0.0023564553018653282,-0.002725713608497292,-0.01333485038111271]},{"name":"camera_3","offset_m":[-0.00446990607174997,-0.0015281418544708936,0.013373048974137876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012683782238345873,-0.0007463694289117139,-0.001615226191131553],"end_effector_yaw_offset_degrees":0.6941620250652734},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0013848910226009685,0.0018936518405073574,0.00029860992103438724],"end_effector_yaw_offset_degrees":0.9677268516516775},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00011852882054264697,0.001923956763607135,-0.001865604223415867],"end_effector_yaw_offset_degrees":0.5505267715808693},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003462683493362219,0.0010260881406917131,0.0011258436284917435],"end_effector_yaw_offset_degrees":-0.35991537495326487},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018318948233692737,0.0003499728924044334,0.0016748694182659855],"end_effector_yaw_offset_degrees":-0.26576556948763597},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008711186452114972,-0.0019219177933101363,-0.0005506373612830333],"end_effector_yaw_offset_degrees":0.7549771622413355}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001084504001969926,0.002397399487194577],"position_m":[0.13941549599803008,0.23709739948719458,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0025556105436437514,-0.0003449252962251506],"position_m":[0.21615561054364377,-0.05404492529622515,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008491192110619541,0.002887401506060142],"position_m":[0.24825088078893803,-0.38051259849393987,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004156916954863832,0.004097773702884136],"position_m":[0.3494430830451362,0.12129777370288414,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f18bd59c55204563b1bafc7f01ae543d40b3012dfad64893c54f39dd9aa4c57b","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0011.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_648/tex_ceiling_textures_6566/tex_floor_textures_1175/tex_table_textures_1543/tex_wall_textures_8201","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3097731589338833628,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3097731589338833628,"visual_seed":3097731589338833628,"scene_id":"lab_003","finished_at":"2026-09-06T09:32:03"} +{"episode_id":"ep_000012","started_at":"2026-09-06T09:32:10","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[-0.4233422832192003,-1.6559159152238832,0.71338606911949],"aabb_xy":[[-0.49334228585578654,-1.6760207802197484],[-0.35334228058261385,-1.6358110502280174]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_1","position":[-0.11022427190838313,-0.7651194513413337,0.71338606911949],"aabb_xy":[[-0.16021928286783516,-0.8151194503769256],[-0.06022926094893111,-0.715119452305742]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.4078862704496743,0.08152449039965637,0.71338606911949],"aabb_xy":[[-0.4718819678447709,0.017524492098947686],[-0.3438905730545777,0.14552448870036505]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.09945731140946401,-1.7894952732155929,0.71338606911949],"aabb_xy":[[0.09314521187312558,-1.795262212468812],[0.10576941094580244,-1.7837283339623742]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.12901027403505283,-2.5776797422180024,0.71338606911949],"aabb_xy":[[-0.20901027201583786,-2.5852812831798544],[-0.04901027605426777,-2.5700782012561505]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_5","position":[0.5268046193818168,-2.044957870747913,0.71338606911949],"aabb_xy":[[0.4568046177795373,-2.058390663949571],[0.5968046209840963,-2.031525077546256]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_6","position":[0.4293286346934959,-1.5059833853825688,0.71338606911949],"aabb_xy":[[0.3871442205326652,-1.5699833856597802],[0.47151304885432666,-1.4419833851053578]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_7","position":[-0.27365727198030054,0.5260832761980891,0.71338606911949],"aabb_xy":[[-0.3086572718763194,0.5177090406861492],[-0.2386572720842817,0.5344575117100291]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.5708816153507075,1.2621047837126649,0.71338606911949],"aabb_xy":[[0.5333816154069411,1.2538116936778283],[0.6083816152944739,1.2703978737475015]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.6755640085758268,-2.000749074487759,0.71338606911949],"aabb_xy":[[0.6530648728495997,-2.0232490752660217],[0.6980631443020536,-1.978249073709496]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_10","position":[0.17468076287798096,-2.105094229399289,0.71338606911949],"aabb_xy":[[0.12470195436766504,-2.155094229405008],[0.2246595713882968,-2.0550942293935703]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_11","position":[0.14492024872847964,0.596516892518999,0.71338606911949],"aabb_xy":[[0.1336751931578618,0.5852750947949038],[0.15616530429909747,0.6077586902430944]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[0.08029998412957207,0.709987374037155,0.71338606911949],"aabb_xy":[[0.06519768266855394,0.694885852406093],[0.09540228559059014,0.7250888956682167]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.563800352437485,0.3078950459522436,0.71338606911949],"aabb_xy":[[-0.574640830664,0.29070876466159473],[-0.5529598742109701,0.32508132724289235]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.12520535632597463,-0.10131292215938137,0.71338606911949],"aabb_xy":[[-0.1367743370729112,-0.12631292227631308],[-0.11363637557903805,-0.07631292204244965]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_15","position":[0.31915502125004713,1.6419688900440161,0.71338606911949],"aabb_xy":[[0.22915502451443692,1.5887854267267214],[0.40915501798565734,1.6951523533613104]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_16","position":[-0.2878135408113838,-2.5046986341262625,0.71338606911949],"aabb_xy":[[-0.2948538507449208,-2.584698633525934],[-0.28077323087784684,-2.424698634726591]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[-0.13156534980095913,1.1150005878434786,0.71338606911949],"aabb_xy":[[-0.19656535075808634,1.0630523759097728],[-0.06656534884383193,1.166948799777184]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_18","position":[0.037571777626867475,1.4971334712361464,0.71338606911949],"aabb_xy":[[0.012571777694349584,1.490250803015223],[0.06257177755938537,1.5040161394570697]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[0.49904749252665637,-1.116920590378161,0.71338606911949],"aabb_xy":[[0.48896578544808283,-1.1969205882702756],[0.5091291996052298,-1.0369205924860463]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_20","position":[0.28663185513137623,1.2684387987405916,0.71338606911949],"aabb_xy":[[0.22663185487997511,1.214157473704127],[0.34663185538277747,1.3227201237770563]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[0.6488631317680293,-0.04012073417235085,0.71338606911949],"aabb_xy":[[0.6317610538096611,-0.05722753970362061],[0.6659652097263974,-0.0230139286410811]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_22","position":[0.4963210672217615,-0.5410307595850439,0.71338606911949],"aabb_xy":[[0.48690359265189864,-0.5504469367227629],[0.5057385417916241,-0.5316145824473248]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_23","position":[-0.499085399704424,1.0505735886119436,0.71338606911949],"aabb_xy":[[-0.5029992728998465,1.0418245732053868],[-0.4951715265090015,1.0593226040185004]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.07433087837818642,-1.0686057834893168,0.71338606911949],"aabb_xy":[[0.06117963240689707,-1.0936057832460035],[0.08748212434947579,-1.0436057837326305]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_25","position":[-0.2942725460876401,-1.295501859272975,0.71338606911949],"aabb_xy":[[-0.3143309577008804,-1.3155669461821327],[-0.2742141344743998,-1.2754367723638174]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_26","position":[-0.4129454966623413,1.2738765131547067,0.71338606911949],"aabb_xy":[[-0.4318298804308516,1.254990588374354],[-0.39406111289383117,1.2927624379350595]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[0.48848256977320714,0.9259457091092695,0.71338606911949],"aabb_xy":[[0.4499368769480061,0.887399938053081],[0.5270282625984082,0.9644914801654583]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6934276944789118,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8805.png","name":"8805"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8805.png","name":"8805"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2024.png","name":"2024"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4620.png","name":"4620"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2943.png","name":"2943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8211.png","name":"8211"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":548.620500060654,"rotation_z_degrees":290.90945297983194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[7.062886761364379e-05,-0.01115314183889724,0.0093021287486428]},{"name":"camera_2","offset_m":[-0.01583772654120265,0.017306013860572473,0.004565574679159724]},{"name":"camera_3","offset_m":[-0.011627156682266989,-0.012039882190149691,-0.01613136097241378]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011967175881828522,-0.001711377783539283,0.0005691514666452302],"end_effector_yaw_offset_degrees":0.2432977322150609},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0017302181960419172,-0.0002670304522302835,-0.0010817664546415823],"end_effector_yaw_offset_degrees":0.832486094894727},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001780966100516784,0.0019138707219369918,-0.0008036972618794005],"end_effector_yaw_offset_degrees":0.48201200382154274},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00047599557965219506,-0.0014510492190320558,-0.0003155218680428323],"end_effector_yaw_offset_degrees":-0.477437836643678},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005595684670490612,0.0015892201236412957,0.00022316519845598905],"end_effector_yaw_offset_degrees":-0.8938791748921591},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010496640383432102,-0.0015055870946478183,-0.0012475560051198604],"end_effector_yaw_offset_degrees":-0.17842932261927302}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0048788197882553225,-0.00010092470602470188],"position_m":[0.14537881978825534,0.23459907529397528,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029794229057963696,0.0014127984518882662],"position_m":[0.21062057709420365,-0.05228720154811173,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029834004069874036,-0.003951065415203541],"position_m":[0.2520834004069874,-0.38735106541520353,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0002570876760638399,-0.0033971618203693277],"position_m":[0.35334291232393616,0.11380283817963067,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"682006d53c9bf415f8707e6d5edd06cc9190ac5aeb142c8068c640b392aa985c","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0012.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8805/tex_ceiling_textures_8211/tex_floor_textures_2943/tex_table_textures_2024/tex_wall_textures_4620","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":651837365006299395,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":651837365006299395,"visual_seed":651837365006299395,"scene_id":"lab_003","finished_at":"2026-09-06T09:38:03"} +{"episode_id":"ep_000013","started_at":"2026-09-06T09:38:09","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_0","position":[-0.09118719537990227,-2.5124854010014372,0.71338606911949],"aabb_xy":[[-0.10203880162877788,-2.523344691729088],[-0.08033558913102667,-2.5016261102737865]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.06670868063918434,0.6617976248853012,0.71338606911949],"aabb_xy":[[-0.11670868158971713,0.6302484778817797],[-0.016708679688651515,0.6933467718888225]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[0.3835693330972436,-1.9607872379696385,0.71338606911949],"aabb_xy":[[0.34606933191245076,-1.9652054606656983],[0.42106933428203636,-1.9563690152735773]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[0.4532129990752687,-0.44743937411548185,0.71338606911949],"aabb_xy":[[0.4182130008051488,-0.4545135018104699],[0.4882129973453886,-0.4403652464204936]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_4","position":[0.0741399870884053,1.1899931876727927,0.71338606911949],"aabb_xy":[[0.00913998445061183,1.138513588973346],[0.1391399897261988,1.24147278637224]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.10458720102115238,-2.2170553693007347,0.71338606911949],"aabb_xy":[[-0.1324322378017595,-2.247839868039047],[-0.07674216424054525,-2.1862708705624234]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.21257035499354127,-1.4362034030412072,0.71338606911949],"aabb_xy":[[0.1750703565701409,-1.4493676170090375],[0.2500703534169416,-1.4230391890733765]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_7","position":[0.3765984219527918,-0.9148099042523334,0.71338606911949],"aabb_xy":[[0.372520264045742,-0.9188908845005969],[0.3806765798598415,-0.9107289240040702]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_8","position":[-0.1330589647436874,-2.375201715802753,0.71338606911949],"aabb_xy":[[-0.13915359263180574,-2.3837711103544224],[-0.1269643368555691,-2.366632321251085]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_9","position":[0.5239745865328358,-1.4981299011153386,0.71338606911949],"aabb_xy":[[0.5006927443347043,-1.5831299024125667],[0.547256428730967,-1.4131298998181105]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_10","position":[0.5671211684096882,1.3669081610739338,0.71338606911949],"aabb_xy":[[0.5121289177741774,1.3119081593306212],[0.6221134190451992,1.4219081628172467]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_11","position":[-0.6266592402329114,-0.831514173473362,0.71338606911949],"aabb_xy":[[-0.6882499994569043,-0.895514171582409],[-0.5650684810089187,-0.7675141753643152]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.7201591347170702,1.4114264587210936,0.71338606911949],"aabb_xy":[[0.7162452615216477,1.4026774433145368],[0.7240730079124926,1.4201754741276504]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.42967659853274065,1.5521304449934648,0.71338606911949],"aabb_xy":[[-0.44523236794300597,1.5365800117490578],[-0.41412082912247544,1.5676808782378722]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_14","position":[-0.2168046089286969,-0.8357853710653294,0.71338606911949],"aabb_xy":[[-0.2668046085050316,-0.8857659500174353],[-0.16680460935236222,-0.7858047921132234]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_15","position":[-0.4358348497141326,-0.11602870544492605,0.71338606911949],"aabb_xy":[[-0.4477675840759607,-0.12841085825278542],[-0.42390211535230454,-0.1036465526370667]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.6169860411604178,1.7692218524303125,0.71338606911949],"aabb_xy":[[0.5569860405644016,1.7144093798850892],[0.676986041756434,1.8240343249755362]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.49711944126199237,1.0986377579696045,0.71338606911949],"aabb_xy":[[0.4171194398318651,1.019120602956995],[0.5771194426921196,1.178154912982214]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[-0.5296864256397097,-1.001857425011275,0.71338606911949],"aabb_xy":[[-0.5682321184649107,-1.0404031960674638],[-0.49114073281450865,-0.9633116539550864]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.4874728362572869,0.18511028262141194,0.71338606911949],"aabb_xy":[[-0.5369532574712458,0.12111028470856014],[-0.4379924150433282,0.2491102805342638]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.36463849287895933,0.47021705013842263,0.71338606911949],"aabb_xy":[[-0.40055199730394897,0.434303541921668],[-0.3287249884539696,0.5061305583551772]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_21","position":[-0.5534956072042867,-1.3360531611765678,0.71338606911949],"aabb_xy":[[-0.6134956070508535,-1.3928717833696065],[-0.4934956073577199,-1.2792345389835291]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.2967677171335896,0.6237120467282624,0.71338606911949],"aabb_xy":[[0.29035390349040463,0.617302226480594],[0.3031815307767745,0.6301218669759306]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865143555676735,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8485.png","name":"8485"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8485.png","name":"8485"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6443.png","name":"6443"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6179.png","name":"6179"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6215.png","name":"6215"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6024.png","name":"6024"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":593.4748500079504,"rotation_z_degrees":32.138007197583,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019210784601630688,0.017847233786557035,-0.014230036024297066]},{"name":"camera_2","offset_m":[0.002824270578094413,0.0117019437158765,-0.017616891655892593]},{"name":"camera_3","offset_m":[-0.005763679736095208,0.012233282172998256,-0.009548614045895661]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006817059965564766,-0.0001541001178391719,0.0007717860600719691],"end_effector_yaw_offset_degrees":-0.7417630479775008},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010490485666374253,-0.0005823153311006655,0.00195442800569047],"end_effector_yaw_offset_degrees":0.9325953170702164},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005805386642222876,0.00082557344950162,-0.0007596989745606631],"end_effector_yaw_offset_degrees":0.097920772542889},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007720964930148094,-0.0010488820101922144,0.0016538896894173144],"end_effector_yaw_offset_degrees":-0.14555654148809083},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[9.15282899589696e-05,0.0005531177941588863,0.00044772621535860884],"end_effector_yaw_offset_degrees":-0.10321238271009947},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017043137932376221,-9.345498805063955e-05,-0.0018453858190315966],"end_effector_yaw_offset_degrees":0.1893591710089273}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004677442037825886,0.004113136664598601],"position_m":[0.13582255796217413,0.23881313666459858,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020698002944134035,-0.002628703647794024],"position_m":[0.2156698002944134,-0.05632870364779402,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038285675756218507,-0.001684732225990756],"position_m":[0.24527143242437813,-0.38508473222599077,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.1218055227119224e-05,-0.0038712451465764295],"position_m":[0.35361121805522716,0.11332875485342357,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42072e0a2540c08cc0f9243492fdbf1ecb64ec22cd740c2800f12ad657990f89","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8485/tex_ceiling_textures_6024/tex_floor_textures_6215/tex_table_textures_6443/tex_wall_textures_6179","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2399500777238537665,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2399500777238537665,"visual_seed":2399500777238537665,"scene_id":"lab_003","finished_at":"2026-09-06T09:44:15"} +{"episode_id":"ep_000014","started_at":"2026-09-06T09:44:21","dimensions":{"distractor":{"count":31,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[-0.5319529178144328,1.252782767880122,0.71338606911949],"aabb_xy":[[-0.5448248213153729,1.1727827674662858],[-0.5190810143134926,1.3327827682939581]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_1","position":[0.09926069877442167,-0.9725799549484726,0.71338606911949],"aabb_xy":[[0.03926069826656874,-1.029426688634394],[0.15926069928227457,-0.9157332212625513]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_2","position":[-0.4838829205923239,1.6208020077548384,0.71338606911949],"aabb_xy":[[-0.5638829210625398,1.6124913001404904],[-0.403882920122108,1.629112715369187]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[0.4190599682282896,-1.313693405681136,0.71338606911949],"aabb_xy":[[0.41302295522762494,-1.319720106750084],[0.4250969812289544,-1.307666704612188]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_4","position":[-0.33259361283970723,0.7194786748674526,0.71338606911949],"aabb_xy":[[-0.36705609085279495,0.7128149976845297],[-0.2981311348266194,0.7261423520503754]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[-0.6054309921137117,-1.672324490388164,0.71338606911949],"aabb_xy":[[-0.6257152948371103,-1.6926071155308726],[-0.5851466893903128,-1.652041865245455]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_6","position":[-0.3519179925697847,-0.6431802696533331,0.71338606911949],"aabb_xy":[[-0.3632797272230708,-0.654548736059621],[-0.34055625791649846,-0.6318118032470449]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_7","position":[0.21891294600924083,-1.2663497901933831,0.71338606911949],"aabb_xy":[[0.1815816694839982,-1.3010028449882354],[0.2562442225344834,-1.2316967353985309]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.6134634998737745,1.265522463332621,0.71338606911949],"aabb_xy":[[0.533463498800654,1.2557444169952365],[0.6934635009468947,1.2753005096700054]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_9","position":[-0.5217969778150354,-0.42192946552605726,0.71338606911949],"aabb_xy":[[-0.5418553894282757,-0.44199455243521485],[-0.5017385662017951,-0.4018643786168998]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.13200488743217698,-0.35251728047100794,0.71338606911949],"aabb_xy":[[-0.19600488911017433,-0.40103467195032216],[-0.06800488575417962,-0.3039998889916937]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_11","position":[0.598986876050446,1.4839185159993833,0.71338606911949],"aabb_xy":[[0.5858356300791567,1.4589185162426968],[0.6121381220217355,1.50891851575607]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[-0.07292908530901387,0.9741803259484891,0.71338606911949],"aabb_xy":[[-0.12281178218671009,0.9241803267022144],[-0.023046388431317667,1.0241803251947639]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[-0.5045061257090679,0.9057385952233266,0.71338606911949],"aabb_xy":[[-0.5413007588339742,0.8688327201267442],[-0.46771149258416167,0.9426444703199087]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.5184762949997683,-1.3351813577083338,0.71338606911949],"aabb_xy":[[0.4684988781345148,-1.3851813591975823],[0.5684537118650219,-1.2851813562190852]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_15","position":[-0.28992317297193737,-0.7539503493010145,0.71338606911949],"aabb_xy":[[-0.34489689500827025,-0.8089503488652477],[-0.2349494509356045,-0.6989503497367814]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_16","position":[0.515660856923364,-1.042450495900814,0.71338606911949],"aabb_xy":[[0.4516608536336559,-1.0857854149047317],[0.5796608602130721,-0.9991155768968966]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_17","position":[-0.36857444727617833,1.3542376280198103,0.71338606911949],"aabb_xy":[[-0.40607444762440603,1.3424462324387263],[-0.3310744469279505,1.3660290236008934]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_18","position":[0.5163663566843675,-1.1734109984602614,0.71338606911949],"aabb_xy":[[0.5087420885941892,-1.1810442219968051],[0.5239906247745457,-1.1657777749237177]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.10375546218271114,0.8614995946588859,0.71338606911949],"aabb_xy":[[-0.11698640771739242,0.8482721756368864],[-0.09052451664802984,0.8747270136808852]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[0.5641035545433948,-0.5339628857084677,0.71338606911949],"aabb_xy":[[0.5141087216154533,-0.5839628846037113],[0.6140983874713365,-0.4839628868132242]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_21","position":[-0.59526315743679,-0.5320526220222255,0.71338606911949],"aabb_xy":[[-0.5993990137694902,-0.5695526214665826],[-0.5911273011040898,-0.4945526225778686]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.3821891212377209,-0.9863288558196752,0.71338606911949],"aabb_xy":[[-0.4621891215113279,-1.0592784036453917],[-0.30218912096411393,-0.9133793079939585]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_23","position":[-0.2563387707444303,1.5544871169516257,0.71338606911949],"aabb_xy":[[-0.3063118362769458,1.504487117139093],[-0.20636570521191488,1.6044871167641588]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_24","position":[-0.5683576643439062,-2.157637751387832,0.71338606911949],"aabb_xy":[[-0.618174443808741,-2.2076377498721356],[-0.5185408848790715,-2.107637752903529]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_25","position":[-0.1304368527718086,1.790608563736647,0.71338606911949],"aabb_xy":[[-0.13985432734167133,1.7811923865989276],[-0.12101937820194583,1.8000247408743657]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_26","position":[-0.40638589304417727,-0.48882179397480385,0.71338606911949],"aabb_xy":[[-0.4375328118877604,-0.558821792661611],[-0.37523897420059416,-0.4188217952879966]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_27","position":[0.3562238878566222,1.1096887963395607,0.71338606911949],"aabb_xy":[[0.3521079377445495,1.105573241306715],[0.36033983796869484,1.113804351372406]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_28","position":[0.5856337396055433,0.9463872028304587,0.71338606911949],"aabb_xy":[[0.5428670327261231,0.8823871994086563],[0.6284004464849635,1.0103872062522612]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[-0.41611831264468396,-1.5058083697593676,0.71338606911949],"aabb_xy":[[-0.4249203679536566,-1.5136196959142965],[-0.4073162573357112,-1.4979970436044383]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.1516023325983462,-1.5321666157917742,0.71338606911949],"aabb_xy":[[0.1355404051398285,-1.617166617604366],[0.1676642600568638,-1.4471666139791823]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6873579371498254,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8898.png","name":"8898"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8898.png","name":"8898"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9844.png","name":"9844"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6330.png","name":"6330"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5868.png","name":"5868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5762.png","name":"5762"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":774.8527954407591,"rotation_z_degrees":317.2393151815898,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015349723604279674,0.00474988829576993,0.01801505036940187]},{"name":"camera_2","offset_m":[-0.013140195828938928,-0.013126776885965903,0.012827554174718762]},{"name":"camera_3","offset_m":[-0.01924342191001197,-0.01429990857174793,-0.018289632881623698]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011309119438052565,4.97485762364306e-05,-0.0010755383637282101],"end_effector_yaw_offset_degrees":0.31647791651020296},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004991214873754561,0.001365925548553245,-0.0013072840623671671],"end_effector_yaw_offset_degrees":-0.32611207853384006},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008609218380363918,0.0016851522663723036,-0.0005863679528350105],"end_effector_yaw_offset_degrees":-0.9199782614229479},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015217047062372653,0.001341865831821489,-0.00023252746390993364],"end_effector_yaw_offset_degrees":-0.9707640896465044},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017058026981787463,0.0012687030151074278,-0.00046737411672588547],"end_effector_yaw_offset_degrees":-0.791486127137017},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006978628234986513,0.0019760828527572187,-0.001762496089386731],"end_effector_yaw_offset_degrees":0.569018061990431}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009150698855670374,0.0004166318944039101],"position_m":[0.139584930114433,0.2351166318944039,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004787419374863463,-0.0013853383787846606],"position_m":[0.20881258062513655,-0.05508533837878466,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003694565449072638,-0.002989530874930142],"position_m":[0.24540543455092734,-0.38638953087493016,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0002112755883618058,-0.0016581121331482296],"position_m":[0.35381127558836184,0.11554188786685177,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d69a333b33cb8c309766e683b70af447de9e8f54c9a1be411ca85494fece8e24","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0014.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8898/tex_ceiling_textures_5762/tex_floor_textures_5868/tex_table_textures_9844/tex_wall_textures_6330","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6214532668037775317,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6214532668037775317,"visual_seed":6214532668037775317,"scene_id":"lab_003","finished_at":"2026-09-06T09:50:18"} +{"episode_id":"ep_000015","started_at":"2026-09-06T09:50:23","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.023567058093452165,-2.5036635694160956,0.71338606911949],"aabb_xy":[[0.014785830946215942,-2.512443316704626],[0.0323482852406884,-2.4948838221275653]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_1","position":[-0.15452681025538173,0.37113605322329946,0.71338606911949],"aabb_xy":[[-0.19729351713480192,0.307136049801497],[-0.11176010337596154,0.4351360566451019]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_2","position":[0.13640935425443468,-1.9141392112205928,0.71338606911949],"aabb_xy":[[0.0864093532352994,-1.9506054269584208],[0.18640935527356994,-1.877672995482765]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.36962743792768127,-0.8201914603975593,0.71338606911949],"aabb_xy":[[-0.4596274373460521,-0.853566957241749],[-0.2796274385093103,-0.7868159635533696]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_4","position":[0.6195566368874186,-2.3509821298412485,0.71338606911949],"aabb_xy":[[0.5962747946892872,-2.435982131138476],[0.6428384790855499,-2.26598212854402]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[-0.44186271430524976,-2.405561124108479,0.71338606911949],"aabb_xy":[[-0.46435913573911386,-2.4280611239152265],[-0.41936629287138566,-2.3830611243017317]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.5779443107613241,0.37472760439628816,0.71338606911949],"aabb_xy":[[-0.6154443119461168,0.3703093817002276],[-0.5404443095765312,0.3791458270923486]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.13129363162839625,0.8878817481640029,0.71338606911949],"aabb_xy":[[0.06729362995039886,0.8393643566846887],[0.19529363330639357,0.9363991396433171]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_8","position":[0.45429901552954943,0.7471934644229741,0.71338606911949],"aabb_xy":[[0.41726490610148964,0.7128162570892647],[0.4913331249576091,0.7815706717566835]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[-0.5731603001304958,-1.0906350951428088,0.71338606911949],"aabb_xy":[[-0.5792549280186142,-1.0992044896944775],[-0.5670656722423776,-1.08206570059114]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_10","position":[-0.2999329661901409,-1.8009333955541664,0.71338606911949],"aabb_xy":[[-0.34706234519197654,-1.8649333965985682],[-0.2528035871883052,-1.7369333945097643]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_11","position":[0.15141109775391692,-2.455030363464389,0.71338606911949],"aabb_xy":[[0.10141109639302971,-2.5050082680398043],[0.20141109911480415,-2.405052458888973]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_12","position":[0.6222781825254162,-2.0025974778827766,0.71338606911949],"aabb_xy":[[0.6145749918513392,-2.0103068485815148],[0.6299813731994932,-1.9948881071840385]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_13","position":[0.5934168079708968,-1.1179265633533586,0.71338606911949],"aabb_xy":[[0.5825652017220212,-1.1287858540810096],[0.6042684142197724,-1.1070672726257076]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_14","position":[-0.33313189301021257,0.2899151517002987,0.71338606911949],"aabb_xy":[[-0.4031318964017745,0.2545993779968678],[-0.2631318896186505,0.32523092540372955]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_15","position":[0.45784511589725274,-1.9060744771779774,0.71338606911949],"aabb_xy":[[0.422845114545771,-1.9264342131347982],[0.4928451172487345,-1.8857147412211566]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_16","position":[-0.045931138960782714,-0.8311718290723069,0.71338606911949],"aabb_xy":[[-0.06783982110013374,-0.8530724958923976],[-0.024022456821431656,-0.8092711622522162]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_17","position":[-0.27659189136681134,-2.2177319740111314,0.71338606911949],"aabb_xy":[[-0.2897431373381007,-2.242731973767818],[-0.263440645395522,-2.192731974254445]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_18","position":[-0.4313424790811399,-1.6866361875492126,0.71338606911949],"aabb_xy":[[-0.45999181144155604,-1.7152817468262884],[-0.4026931467207236,-1.6579906282721368]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_19","position":[0.41747169545977636,-0.33745330432083165,0.71338606911949],"aabb_xy":[[0.37997169394414465,-0.34868007733697665],[0.45497169697540807,-0.32622653130468654]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.2487804037086258,1.7487544653465883,0.71338606911949],"aabb_xy":[[-0.26138310284570226,1.7361590691217228],[-0.23617770457154935,1.7613498615714538]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_21","position":[0.41049939729520823,-0.6913141296671108,0.71338606911949],"aabb_xy":[[0.4032170809185445,-0.7813141332766197],[0.41778171367187183,-0.6013141260576017]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840155632919881,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1744.png","name":"1744"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1744.png","name":"1744"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4870.png","name":"4870"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9722.png","name":"9722"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3397.png","name":"3397"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":844.9740016219828,"rotation_z_degrees":336.37694451719415,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0004910913108895944,-0.004390378828985192,0.009609345958940928]},{"name":"camera_2","offset_m":[-0.008310305860910834,-0.010193924178869778,-0.01979028999484697]},{"name":"camera_3","offset_m":[-0.005760153064378595,-0.009165464512407247,-0.010856936053485665]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017401690375810435,0.0017120649657398684,-0.0012804924000295531],"end_effector_yaw_offset_degrees":0.02430767885899865},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0017313550309883156,0.0005761417782112238,0.0017911689704762763],"end_effector_yaw_offset_degrees":-0.12075860535644622},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[3.792446893113562e-05,0.0008146552225654509,-0.0019876303297168634],"end_effector_yaw_offset_degrees":0.6922579056810787},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00017525253476199823,-0.001889871172865715,0.0005839656901291596],"end_effector_yaw_offset_degrees":0.6582303023016287},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019166851525331818,-0.0017957692112085045,-0.001958072609487512],"end_effector_yaw_offset_degrees":-0.3030818081341984},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015826601329608598,-0.001399689867839736,0.0016929718287875943],"end_effector_yaw_offset_degrees":-0.9124039423776782}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001492058995985853,0.0011148882833926562],"position_m":[0.14199205899598585,0.23581488828339264,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0031248823660088476,0.0011664820240628515],"position_m":[0.21047511763399115,-0.052533517975937145,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0027797640521690804,0.0043585372325523715],"position_m":[0.2463202359478309,-0.37904146276744766,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004506194125676661,0.0028702126637529845],"position_m":[0.3581061941256767,0.12007021266375298,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e2631aadde5c2232608f7e65b16af1779bae4e9402dc997daafa4e3f1aa9b6c0","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_1744/tex_ceiling_textures_4369/tex_floor_textures_3397/tex_table_textures_4870/tex_wall_textures_9722","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2070092702083266307,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2070092702083266307,"visual_seed":2070092702083266307,"scene_id":"lab_003","finished_at":"2026-09-06T09:56:20"} +{"episode_id":"ep_000016","started_at":"2026-09-06T09:56:26","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[-0.569487743386955,0.23647970710295496,0.71338606911949],"aabb_xy":[[-0.5775140140175811,0.22772821212560235],[-0.5614614727563291,0.24523120208030758]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[0.4373689437590409,1.77065344759504,0.71338606911949],"aabb_xy":[[0.41957543682412446,1.7528537019992423],[0.45516245069395733,1.7884531931908376]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.5286176936234366,0.9232546413724996,0.71338606911949],"aabb_xy":[[0.4636176925174933,0.8982892683043714],[0.5936176947293799,0.948220014440628]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[-0.24540820553180337,0.4658201965013409,0.71338606911949],"aabb_xy":[[-0.2954074807002396,0.4158201952253937],[-0.19540893036336726,0.515820197777288]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.4307120983096724,0.4005678533754984,0.71338606911949],"aabb_xy":[[-0.480809562290746,0.33656785286568663],[-0.38061463432859877,0.46456785388531024]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.49272655790410314,1.4306015493003454,0.71338606911949],"aabb_xy":[[-0.49976686783764024,1.3506015499006743],[-0.48568624797056625,1.5106015487000173]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_6","position":[0.6108062602619229,-0.40356177301539686,0.71338606911949],"aabb_xy":[[0.5758062610691045,-0.41452881901305944],[0.645806259454741,-0.3925947270177342]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_7","position":[-0.6440817660947815,0.19675115145746913,0.71338606911949],"aabb_xy":[[-0.6553268216653994,0.18550935373337385],[-0.6328367105241637,0.2079929491815644]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[-0.6027220841008665,-0.24687261730399568,0.71338606911949],"aabb_xy":[[-0.66772208673866,-0.2983522160034427],[-0.537722081463073,-0.19539301860454877]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_9","position":[-0.07494240089674187,1.3054051909874214,0.71338606911949],"aabb_xy":[[-0.09994240006237498,1.2984529452820648],[-0.049942401731108754,1.312357436692778]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_10","position":[-0.23684652996824068,1.1835247553875377,0.71338606911949],"aabb_xy":[[-0.24127715932308086,1.1780763836528552],[-0.2324159006134005,1.1889731271222201]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.4539264080940597,0.6768673562849443,0.71338606911949],"aabb_xy":[[0.3839264116840978,0.6564294206332625],[0.5239264045040213,0.6973052919366259]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_12","position":[-0.3650848778146206,-2.2734533124244853,0.71338606911949],"aabb_xy":[[-0.38396926158313077,-2.292339237204838],[-0.34620049404611036,-2.2545673876441326]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_13","position":[0.216937575361407,0.696274116674604,0.71338606911949],"aabb_xy":[[0.12725049905329153,0.6062741164201536],[0.30662465166952246,0.7862741169290547]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.3839578625097182,-1.8228481752135461,0.71338606911949],"aabb_xy":[[-0.46395785991331157,-1.902840746411729],[-0.3039578651061247,-1.7428556040153633]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_15","position":[0.5723831291181027,-2.3219942088752514,0.71338606911949],"aabb_xy":[[0.5646799384440258,-2.3297035795739895],[0.5800863197921797,-2.3142848381765133]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_16","position":[0.6668640537886275,1.2409906134674822,0.71338606911949],"aabb_xy":[[0.658940773549879,1.2184906132294788],[0.6747873340273757,1.2634906137054855]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.27168351807206353,-2.0802623613216413,0.71338606911949],"aabb_xy":[[-0.2845554215730037,-2.160262361735477],[-0.2588116145711234,-2.0002623609078047]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_18","position":[0.15353436189149006,1.296891945739898,0.71338606911949],"aabb_xy":[[0.14418735430919483,1.2825883235222542],[0.1628813694737853,1.3111955679575422]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[0.421144677977366,-1.0154358212009098,0.71338606911949],"aabb_xy":[[0.37132789851253123,-1.0654358196852132],[0.47096145744220075,-0.9654358227166064]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_20","position":[-0.0015333344523826842,0.756739190039458,0.71338606911949],"aabb_xy":[[-0.021424374332722932,0.7440833787547613],[0.018357705427957564,0.7693950013241551]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_21","position":[0.06616971448393583,-0.7788522146079961,0.71338606911949],"aabb_xy":[[-0.0188302839334874,-0.8637265100702811],[0.15116971290135905,-0.6939779191457112]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6909165686720528,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2138.png","name":"2138"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/149.png","name":"149"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4625.png","name":"4625"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6801.png","name":"6801"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8888.png","name":"8888"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":605.178028279461,"rotation_z_degrees":175.7199923977197,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017879333874058444,0.012708178057974102,-0.01591507313778697]},{"name":"camera_2","offset_m":[0.01089125832331845,0.004332149856627183,-0.016899392900238463]},{"name":"camera_3","offset_m":[-0.014166458000033426,0.0012238587204387898,0.0075843019688639594]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018249360855242852,-0.0017507531903030778,-0.0014666552838872994],"end_effector_yaw_offset_degrees":-0.6117326253873734},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004493922949171023,0.0012597962358564577,-0.0015714309422910212],"end_effector_yaw_offset_degrees":-0.26854336213123076},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008503187599597202,-0.0018740767935134693,0.0005334882043923758],"end_effector_yaw_offset_degrees":0.8978228305557892},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008137505356191452,-0.0003430707497225037,-0.001847150122816795],"end_effector_yaw_offset_degrees":0.9547378989042523},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013310250920754848,0.0013564093155230242,-0.0004325160732504933],"end_effector_yaw_offset_degrees":0.18042160030490795},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009188922257183174,0.00015293479119598804,0.00015003137905140497],"end_effector_yaw_offset_degrees":-0.5218621972917681}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004862029617052702,-0.0007110294181654079],"position_m":[0.14536202961705272,0.23398897058183457,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00019107125888627712,0.0016557950177812156],"position_m":[0.21340892874111372,-0.05204420498221878,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002641082423408144,4.8597869407703866e-05],"position_m":[0.25174108242340815,-0.3833514021305923,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004305583803011663,0.0006176488897952585],"position_m":[0.34929441619698837,0.11781764888979526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe776e111b4ce3a76b32264a21bce8e094a873a090dffabe3ab9ffc26ed0827e","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2138/tex_ceiling_textures_8888/tex_floor_textures_6801/tex_table_textures_149/tex_wall_textures_4625","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6045206524679678681,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6045206524679678681,"visual_seed":6045206524679678681,"scene_id":"lab_003","finished_at":"2026-09-06T10:02:17"} +{"episode_id":"ep_000017","started_at":"2026-09-06T10:02:22","dimensions":{"distractor":{"count":20,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.6352878752330973,-2.2314961951297163,0.71338606911949],"aabb_xy":[[-0.6852827081610389,-2.28149619402496],[-0.5852930423051557,-2.1814961962344728]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_1","position":[-0.5191302531692599,-1.8945592824749342,0.71338606911949],"aabb_xy":[[-0.5641228398877103,-1.939559281749383],[-0.47413766645080946,-1.8495592832004855]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.5752625985482642,0.9799329060954989,0.71338606911949],"aabb_xy":[[-0.6368533577722572,0.915932907986452],[-0.5136718393242715,1.0439329042045458]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.05007367994580847,1.3574297224274283,0.71338606911949],"aabb_xy":[[-0.11507368258360196,1.3059501237279814],[0.014926322691985017,1.4089093211268753]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_4","position":[0.08172017974666212,1.6883936666261001,0.71338606911949],"aabb_xy":[[0.07687658498543215,1.6835420141471162],[0.0865637745078921,1.6932453191050845]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.27487156863500567,-0.8035655446098424,0.71338606911949],"aabb_xy":[[-0.2880228146062951,-0.8285655443665291],[-0.26172032266371636,-0.778565544853156]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[-0.38217753316354186,-1.1590387134022408,0.71338606911949],"aabb_xy":[[-0.40545937536167326,-1.2440387146994687],[-0.3588956909654106,-1.0740387121050126]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_7","position":[0.6248620406147662,0.5454976909211986,0.71338606911949],"aabb_xy":[[0.6176007930443588,0.5327106806576891],[0.6321232881851737,0.5582847011847081]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[-0.3266167871058025,-1.7960588810033613,0.71338606911949],"aabb_xy":[[-0.3866167879666152,-1.8474853110098475],[-0.2666167862449896,-1.7446324509968747]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_9","position":[-0.2792831051573626,1.2539393431794283,0.71338606911949],"aabb_xy":[[-0.31428310650884433,1.2335796072226073],[-0.2442831038058809,1.274299079136249]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.24495714658537288,0.34589416990263944,0.71338606911949],"aabb_xy":[[-0.2490930029180731,0.30839417045828244],[-0.2408212902526727,0.38339416934699644]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_11","position":[-0.25607752179130827,0.5610447291000651,0.71338606911949],"aabb_xy":[[-0.28440723173984855,0.5565839869063481],[-0.2277478118427681,0.5655054712937823]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_12","position":[-0.5839775576829476,-1.6771358918456691,0.71338606911949],"aabb_xy":[[-0.5995333270932129,-1.6926863250900768],[-0.5684217882726824,-1.6615854586012624]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_13","position":[-0.42554943072648277,0.3792057446629067,0.71338606911949],"aabb_xy":[[-0.4855494323694046,0.3272055953709625],[-0.3655494290835609,0.43120589395485087]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_14","position":[-0.457915664900284,1.4294761336047936,0.71338606911949],"aabb_xy":[[-0.5219156651742622,1.3794100334075057],[-0.3939156646263058,1.4795422338020816]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_15","position":[0.5090771425831366,1.6484301399748253,0.71338606911949],"aabb_xy":[[0.445077141175146,1.5966411884509006],[0.5730771439911273,1.70021909149875]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.018592710842800675,-1.858642710417353,0.71338606911949],"aabb_xy":[[-0.01790310978447807,-1.8951266528441104],[0.055088531470079416,-1.8221587679905953]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[-0.48992782635219123,0.21424735443193965,0.71338606911949],"aabb_xy":[[-0.5399228373116434,0.16424735539634797],[-0.43993281539273926,0.2642473534675314]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_18","position":[0.3951000827911113,0.3933755496812905,0.71338606911949],"aabb_xy":[[0.3726000832674039,0.37087960223066957],[0.4176000823148187,0.4158714971319111]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[-0.4321231131505802,0.7700622836035871,0.71338606911949],"aabb_xy":[[-0.4696231139425756,0.763694442645397],[-0.3946231123585847,0.7764301245617772]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6930164065846298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1332.png","name":"1332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1332.png","name":"1332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9749.png","name":"9749"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1908.png","name":"1908"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1666.png","name":"1666"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3630.png","name":"3630"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":534.5957309425542,"rotation_z_degrees":258.7766701795854,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014869177050591091,0.000812005420395813,-0.013219850987002783]},{"name":"camera_2","offset_m":[0.01692754760982439,0.005794382438676551,0.007116669978647842]},{"name":"camera_3","offset_m":[0.0032536282633855405,0.007098543930353651,0.014450284429296485]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014140518413039435,-0.0018313259527202766,-0.0006021496507203699],"end_effector_yaw_offset_degrees":-0.030447788538616294},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0006134034420751991,0.0008644528664500627,0.0017242493993920639],"end_effector_yaw_offset_degrees":-0.2534965899529449},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00011978603932283598,-0.0011397957673898581,0.0011786099345172814],"end_effector_yaw_offset_degrees":-0.3347991448209158},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010851482596965071,-0.0006965723525760943,-0.0015443516009793542],"end_effector_yaw_offset_degrees":0.6316517032714681},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006908346670757536,0.001486554549559864,0.00015186956616518093],"end_effector_yaw_offset_degrees":-0.023104415580288196},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008785534080862326,0.0008374209855515802,0.0009878955425736153],"end_effector_yaw_offset_degrees":-0.2507816333461206}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0006558329624790993,0.003289828124645052],"position_m":[0.13984416703752092,0.23798982812464503,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0015063279573701983,-0.0036467023782490258],"position_m":[0.21209367204262983,-0.05734670237824902,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0030343997256105848,-0.0031384405260915004],"position_m":[0.2521343997256106,-0.38653844052609154,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020549883615202102,-0.002242457734528741],"position_m":[0.3556549883615202,0.11495754226547125,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f15d6cef842155d67c165bf292be198f59fcea46cf1b8e3e51c46cae125cd55b","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1332/tex_ceiling_textures_3630/tex_floor_textures_1666/tex_table_textures_9749/tex_wall_textures_1908","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7575708896501899525,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7575708896501899525,"visual_seed":7575708896501899525,"scene_id":"lab_003","finished_at":"2026-09-06T10:08:28"} +{"episode_id":"ep_000018","started_at":"2026-09-06T10:08:33","dimensions":{"distractor":{"count":27,"items":[{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_0","position":[-0.3761111993086606,-0.905892084057992,0.71338606911949],"aabb_xy":[[-0.3999474169492657,-0.9958920848664786],[-0.35227498166805554,-0.8158920832495057]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_1","position":[0.2669847040759885,-2.5268947287364516,0.71338606911949],"aabb_xy":[[0.21199245344047757,-2.5818947304797644],[0.32197695471149945,-2.471894726993139]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_2","position":[0.05210555856758026,-2.222668073359969,0.71338606911949],"aabb_xy":[[0.009338851688160066,-2.2866680767817718],[0.09487226544700045,-2.158668069938167]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[0.3141804584495198,-0.8732439406450794,0.71338606911949],"aabb_xy":[[0.24918045581172632,-0.9247235393445263],[0.3791804610873133,-0.8217643419456324]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.5459360260968891,0.8483087987076936,0.71338606911949],"aabb_xy":[[-0.5834360246725098,0.8355725030441356],[-0.5084360275212682,0.8610450943712514]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_5","position":[-0.14799022996093203,-1.1291963478335432,0.71338606911949],"aabb_xy":[[-0.21199023218133903,-1.1735694319588315],[-0.08399022774052498,-1.0848232637082549]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_6","position":[-0.3051019251555039,1.3357323258104783,0.71338606911949],"aabb_xy":[[-0.34189655828041016,1.2988264507138958],[-0.2683072920305976,1.3726382009070603]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_7","position":[-0.5373131139271635,-2.3796768653013745,0.71338606911949],"aabb_xy":[[-0.5873131135034984,-2.4296574442534804],[-0.4873131143508289,-2.3296962863492685]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[-0.47453279362892914,0.9344388979040268,0.71338606911949],"aabb_xy":[[-0.4948170963523278,0.9141562727613177],[-0.45424849090553027,0.9547215230467354]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[0.1535334822403478,0.6601100671119187,0.71338606911949],"aabb_xy":[[0.1462722346699404,0.6473230568484093],[0.16079472981075524,0.6728970773754283]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.3413839553790792,-2.2608740761613255,0.71338606911949],"aabb_xy":[[0.3306109814577114,-2.2958740743803645],[0.35215692930044695,-2.2258740779422865]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_11","position":[-0.040751810843669745,1.0661267410573303,0.71338606911949],"aabb_xy":[[-0.10475180814601615,1.0217603140894735],[0.023248186458676656,1.110493168025187]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_12","position":[0.46439677118839984,-2.2917740303770167,0.71338606911949],"aabb_xy":[[0.4604828979929772,-2.3005230457835735],[0.46831064438382225,-2.28302501497046]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_13","position":[-0.07479385485521994,-1.616881820003323,0.71338606911949],"aabb_xy":[[-0.10001469171505958,-1.6421055708562093],[-0.049573017995380254,-1.5916580691504358]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.449341327521461,-0.8211541239486015,0.71338606911949],"aabb_xy":[[-0.45479927315848107,-0.9011541272562607],[-0.44388338188444093,-0.7411541206409424]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_15","position":[-0.2941108367825195,0.757154895327818,0.71338606911949],"aabb_xy":[[-0.31601951892187047,0.7352542285077271],[-0.2722021546431684,0.7790555621479086]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[0.06212421479683694,0.8741146594417737,0.71338606911949],"aabb_xy":[[-0.02287578362058628,0.7892403639794887],[0.14712421321426017,0.9589889549040587]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_17","position":[0.4607749386382467,-1.2135694776265993,0.71338606911949],"aabb_xy":[[0.39677493541960884,-1.2602925895256076],[0.5247749418568846,-1.166846365727591]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.3785804926366217,1.0765117806528344,0.71338606911949],"aabb_xy":[[-0.4285579095018753,1.0265117791635856],[-0.3286030757713681,1.1265117821420827]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[0.23892877836452875,0.7451223398651958,0.71338606911949],"aabb_xy":[[0.23081512369115165,0.7370165234111667],[0.24704243303790585,0.7532281563192249]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[-0.6440416597543928,1.441065263705624,0.71338606911949],"aabb_xy":[[-0.6790416580245127,1.4339911360106359],[-0.6090416614842729,1.4481393914006122]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_21","position":[-0.5773516336398518,0.18012536547625668,0.71338606911949],"aabb_xy":[[-0.6023516331915902,0.16998288161112193],[-0.5523516340881133,0.19026784934139138]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_22","position":[0.31347793299879356,-0.5549183894385288,0.71338606911949],"aabb_xy":[[0.29097793275527817,-0.5671230240983008],[0.33597793324230896,-0.5427137547787569]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_23","position":[-0.5193281827082621,-1.507119766016126,0.71338606911949],"aabb_xy":[[-0.5287456572781248,-1.516535943153845],[-0.5099107081383993,-1.497703588878407]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.28538686501261074,-0.4811760392097515,0.71338606911949],"aabb_xy":[[-0.36538686827662387,-0.49473607151866483],[-0.2053868617485976,-0.46761600690083815]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_25","position":[-0.08151384619748403,1.4051618490903088,0.71338606911949],"aabb_xy":[[-0.11581075721522463,1.3708649628803673],[-0.04721693517974338,1.43945873530025]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[0.6496869226701016,0.15235738832474022,0.71338606911949],"aabb_xy":[[0.619719365760276,0.1223573880268545],[0.6796544795799273,0.182357388622626]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900555980527765,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7289.png","name":"7289"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7289.png","name":"7289"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5137.png","name":"5137"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/970.png","name":"970"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4198.png","name":"4198"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3823.png","name":"3823"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":626.830898343453,"rotation_z_degrees":24.127460360851988,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01936800716653351,-0.00042403816031376385,-0.017672263100226137]},{"name":"camera_2","offset_m":[0.014301970022005322,-0.0032735130540784314,0.011917338385277202]},{"name":"camera_3","offset_m":[-0.0051214575888871745,-0.017159485979643462,-0.008645516835497148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007500284240592992,-0.0006125931412403888,0.00011362298327468115],"end_effector_yaw_offset_degrees":0.7619347689503073},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0001311836517115545,-0.00028480470393651156,-0.0019413729391921978],"end_effector_yaw_offset_degrees":0.04529419193399131},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018281549550563754,-0.0017781710927696852,-3.2381750964036345e-05],"end_effector_yaw_offset_degrees":0.7045721780050529},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[5.0330046226075825e-05,-0.0002471451932240338,-0.0012899736161062383],"end_effector_yaw_offset_degrees":0.9530500107096271},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004955642448370408,-6.537115898765577e-05,-0.000229067994332429],"end_effector_yaw_offset_degrees":0.6066235822916415},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003149421186462737,0.0014656772194358361,-0.0012910101295938064],"end_effector_yaw_offset_degrees":-0.7179013535531715}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002419172878145399,0.0010995409213422807],"position_m":[0.1429191728781454,0.23579954092134228,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001241862708314276,-0.003029609312160201],"position_m":[0.2148418627083143,-0.0567296093121602,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001302142993132754,-0.0004056550092194208],"position_m":[0.25040214299313274,-0.3838056550092194,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016598206262794625,0.004268286182284889],"position_m":[0.3519401793737206,0.12146828618228489,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"450018a2eb638766980950ca5936f9c215192ee602188070b74aeea8ad59388d","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7289/tex_ceiling_textures_3823/tex_floor_textures_4198/tex_table_textures_5137/tex_wall_textures_970","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7336789764999004403,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7336789764999004403,"visual_seed":7336789764999004403,"scene_id":"lab_003","finished_at":"2026-09-06T10:14:35"} +{"episode_id":"ep_000019","started_at":"2026-09-06T10:14:40","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_0","position":[0.5142475259586006,-1.0884011196475583,0.71338606911949],"aabb_xy":[[0.4714808190791804,-1.1524011230693607],[0.5570142328380208,-1.0244011162257558]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.2690198382230604,-0.7733324142058366,0.71338606911949],"aabb_xy":[[0.24037050586264413,-0.8019779734829124],[0.2976691705834766,-0.7446868549287609]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_2","position":[0.5258084794356479,-1.6061593915849959,0.71338606911949],"aabb_xy":[[0.5133411213259123,-1.6186247162183194],[0.5382758375453836,-1.5936940669516724]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_3","position":[0.4668544653256115,-0.04239534148858537,0.71338606911949],"aabb_xy":[[0.42935446482825323,-0.04636402503670378],[0.5043544658229697,-0.03842665794046696]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_4","position":[-0.370084800266268,0.4442316461715503,0.71338606911949],"aabb_xy":[[-0.4340848006438016,0.39448637932073793],[-0.3060847998887344,0.49397691302236246]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_5","position":[0.4376284682021978,1.3701221823317655,0.71338606911949],"aabb_xy":[[0.3776284673413849,1.318695752325279],[0.4976284690630105,1.4215486123382517]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_6","position":[0.5571464417044878,-2.416579936478372,0.71338606911949],"aabb_xy":[[0.519646441039909,-2.4322669944785944],[0.5946464423690664,-2.40089287847815]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_7","position":[-0.24548700542238755,-1.9169650492926131,0.71338606911949],"aabb_xy":[[-0.24892768166244475,-1.9208264822669778],[-0.2420463291823304,-1.9131036163182489]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_8","position":[0.7013225450014724,0.20002589631215573,0.71338606911949],"aabb_xy":[[0.6791500180248214,0.17785022915603255],[0.7234950719781231,0.22220156346827888]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.47753205125277653,1.3185149823024398,0.71338606911949],"aabb_xy":[[-0.484793298823184,1.3057279720389303],[-0.4702708036823692,1.3313019925659493]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_10","position":[0.5744904542856677,-2.062679985372939,0.71338606911949],"aabb_xy":[[0.5250100330717089,-2.126679983285791],[0.6239708754996265,-1.9986799874600876]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[0.23982805905394233,-2.264523899706771,0.71338606911949],"aabb_xy":[[0.2282590783070058,-2.2895238998237026],[0.25139703980087896,-2.239523899589839]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_12","position":[0.3385762790454969,-1.5926110461062122,0.71338606911949],"aabb_xy":[[0.3322641795091585,-1.598377985359431],[0.34488837858183535,-1.5868441068529933]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[0.5259476982685674,-0.8538851058629358,0.71338606911949],"aabb_xy":[[0.43594770153295714,-0.9070685691802303],[0.6159476950041776,-0.8007016425456412]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[0.06176446017835291,-1.354265878816353,0.71338606911949],"aabb_xy":[[0.05406126950427586,-1.3619752495150907],[0.06946765085242995,-1.346556508117615]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.12211826514967827,-1.7171375680341674,0.71338606911949],"aabb_xy":[[0.11507795521614128,-1.7971375674338388],[0.12915857508321527,-1.637137568634496]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_16","position":[-0.258829629202405,-1.316760329600013,0.71338606911949],"aabb_xy":[[-0.3238296318401985,-1.36823992829946],[-0.1938296265646115,-1.265280730900566]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.3490801243511117,-1.2578866842922451,0.71338606911949],"aabb_xy":[[0.3207504144025715,-1.2623474264859624],[0.37740983429965197,-1.2534259420985283]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.04538521010845098,-2.5427637763821767,0.71338606911949],"aabb_xy":[[0.008351100680391264,-2.577140983715886],[0.08241931953651069,-2.5083865690484672]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_19","position":[0.5378847622937666,-1.904807394578712,0.71338606911949],"aabb_xy":[[0.500384761501771,-1.9111752355369018],[0.5753847630857619,-1.8984395536205219]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.06286835160413895,0.4632315452158289,0.71338606911949],"aabb_xy":[[-0.11286318453208055,0.4132315463205854],[-0.012873518676197349,0.5132315441110724]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[0.2773061266581808,-2.4364744231530007,0.71338606911949],"aabb_xy":[[0.19730612925458732,-2.5164669943511835],[0.35730612406177414,-2.356481851954818]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_22","position":[0.10554088856742616,1.3306427575689517,0.71338606911949],"aabb_xy":[[0.08099467294467544,1.3003938610199146],[0.13008710419017688,1.3608916541179887]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_23","position":[0.6895936602815338,-0.9343501921896913,0.71338606911949],"aabb_xy":[[0.6763627147468524,-0.9475776112116906],[0.702824605816215,-0.9211227731676918]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_24","position":[0.34902936790531824,0.5888159692792212,0.71338606911949],"aabb_xy":[[0.2790293645137562,0.5535001955757902],[0.41902937129688017,0.624131742982652]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_25","position":[-0.11668031929938649,1.0107356674613324,0.71338606911949],"aabb_xy":[[-0.13447382623430293,0.9929359218655349],[-0.09888681236447006,1.0285354130571303]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_26","position":[-0.1793745571200449,1.6884348013440564,0.71338606911949],"aabb_xy":[[-0.2693745565384158,1.6550593044998665],[-0.08937455770167402,1.721810298188246]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.39660756446524603,-0.1869690745945829,0.71338606911949],"aabb_xy":[[-0.4666075608752077,-0.20740701024626457],[-0.3266075680552841,-0.1665311389429011]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_28","position":[0.20535157609249322,0.9336004758136083,0.71338606911949],"aabb_xy":[[0.15537276758217733,0.8836004758078895],[0.2553303846028091,0.9836004758193271]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_29","position":[-0.598389510781917,1.1680038697879973,0.71338606911949],"aabb_xy":[[-0.6158895110412538,1.153912327599225],[-0.5808895105225805,1.1820954119767701]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.42943675214482857,0.27592555451684264,0.71338606911949],"aabb_xy":[[0.4124266548547779,0.2597910660185687],[0.4464468494348792,0.29206004301511657]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_31","position":[-0.3247604718948847,-2.5123252860459617,0.71338606911949],"aabb_xy":[[-0.34233877408383157,-2.5298997756200667],[-0.30718216970593787,-2.4947507964718567]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900858832334049,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5421.png","name":"5421"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5421.png","name":"5421"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2773.png","name":"2773"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5234.png","name":"5234"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3342.png","name":"3342"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3584.png","name":"3584"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":777.4205727470628,"rotation_z_degrees":25.798538582009453,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0180613052737157,-0.0039466828156852,-0.011548493941257947]},{"name":"camera_2","offset_m":[0.014867160999314625,0.006256726010103648,-0.006113313413513129]},{"name":"camera_3","offset_m":[-0.012009517748722076,-0.019194882275192757,-0.005498065017041443]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016028674878838633,-0.0005578158871159292,-0.0014309305742764367],"end_effector_yaw_offset_degrees":-0.6623580931899271},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0003598831657819551,0.00013321420322735117,0.0016540518940909295],"end_effector_yaw_offset_degrees":0.8337337949379013},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009540511217972021,-0.0012008121754221689,-0.001654407129315783],"end_effector_yaw_offset_degrees":0.5092362596159621},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000553695473424673,0.0001679490692630672,-0.0017792923824756425],"end_effector_yaw_offset_degrees":-0.12260008448642679},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014403664678847823,-0.0014026453734337562,0.00013505493137070832],"end_effector_yaw_offset_degrees":0.9170692084922956},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001583408748734374,0.0008565367786769165,-0.0004454300797819921],"end_effector_yaw_offset_degrees":-0.5230917212914228}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002120820308153024,0.001925500192222528],"position_m":[0.138379179691847,0.23662550019222253,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004067269061775255,0.004898217442399477],"position_m":[0.20953273093822475,-0.04880178255760052,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003258463585188183,0.002478712230589775],"position_m":[0.25235846358518815,-0.38092128776941026,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003880972151553579,-0.003619773932464776],"position_m":[0.34971902784844644,0.11358022606753522,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9410c00b59efbf11879159b4c07f3f658471a5e8317079fff2fe7038f167878","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0019.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5421/tex_ceiling_textures_3584/tex_floor_textures_3342/tex_table_textures_2773/tex_wall_textures_5234","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7375683861283228985,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7375683861283228985,"visual_seed":7375683861283228985,"scene_id":"lab_003","finished_at":"2026-09-06T10:20:33"} +{"episode_id":"ep_000020","started_at":"2026-09-06T10:20:39","dimensions":{"distractor":{"count":34,"items":[{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_0","position":[0.0414644633040433,-0.7504790975249171,0.71338606911949],"aabb_xy":[[0.03342110337808812,-0.8354790986202836],[0.049507823229998464,-0.6654790964295507]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_1","position":[0.6192228169165348,1.44658199836234,0.71338606911949],"aabb_xy":[[0.6098758093342395,1.432278376144696],[0.6285698244988299,1.460885620579984]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.19116996475498482,-1.3035109208154256,0.71338606911949],"aabb_xy":[[0.12716996832766295,-1.350680544637522],[0.2551699611823067,-1.2563412969933292]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.36735956353763854,-1.3297357352301524,0.71338606911949],"aabb_xy":[[0.3298595632454638,-1.3337772106307562],[0.4048595638298134,-1.3256942598295491]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.479462506742552,-1.3571314700757326,0.71338606911949],"aabb_xy":[[0.47030262779867543,-1.3636626881192697],[0.48862238568642863,-1.3506002520321956]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.3983158280545979,-1.3896648329052725,0.71338606911949],"aabb_xy":[[-0.42828338496442364,-1.419664833203158],[-0.3683482711447723,-1.3596648326073866]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_6","position":[0.21912089943543656,-1.837578856599846,0.71338606911949],"aabb_xy":[[0.16930411997060182,-1.8875788550841495],[0.2689376789002713,-1.7875788581155427]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[0.20752062086649203,1.5073280698675515,0.71338606911949],"aabb_xy":[[0.17072598774158576,1.470422194770969],[0.2443152539913983,1.5442339449641336]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_8","position":[0.5899530738620582,-1.6288027758333383,0.71338606911949],"aabb_xy":[[0.5486485307983221,-1.6928027754014554],[0.6312576169257941,-1.5648027762652212]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_9","position":[-0.028422294267396286,1.4977040651902063,0.71338606911949],"aabb_xy":[[-0.09242229137950198,1.4486716953957957],[0.0355777028447094,1.5467364349846169]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_10","position":[0.6158511568098828,1.7447607660424382,0.71338606911949],"aabb_xy":[[0.6015167316837193,1.7327005504878994],[0.6301855819360462,1.756820981596977]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.2596584650880328,0.6444139800059716,0.71338606911949],"aabb_xy":[[0.18965846169647085,0.6090982063025407],[0.3296584684795948,0.6797297537094025]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.04889925065466594,0.8697056922393362,0.71338606911949],"aabb_xy":[[0.025617408456534593,0.7847056909421082],[0.07218109285279727,0.9547056935365643]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_13","position":[-0.6301538316093253,-0.5203495107958265,0.71338606911949],"aabb_xy":[[-0.636120370550061,-0.5263106554551905],[-0.6241872926685893,-0.5143883661364624]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_14","position":[-0.5274147034536452,-2.467436805881095,0.71338606911949],"aabb_xy":[[-0.5874147040496613,-2.5222492784263184],[-0.467414702857629,-2.4126243333358715]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.22263557056650896,-0.8758523943407879,0.71338606911949],"aabb_xy":[[0.15263556843507942,-0.8986143599664834],[0.2926355726979385,-0.8530904287150921]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.6176258743000977,1.5818418503617022,0.71338606911949],"aabb_xy":[[0.58012587395187,1.5700504547806184],[0.6551258746483255,1.5936332459427855]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_17","position":[0.4724724590262346,1.6054107922093288,0.71338606911949],"aabb_xy":[[0.45492576411011565,1.5679107906450775],[0.4900191539423535,1.64291079377358]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_18","position":[0.5533504683306272,-2.0340271465691133,0.71338606911949],"aabb_xy":[[0.5033504687542925,-2.0840077255212197],[0.6033504679069619,-1.9840465676170078]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.18231596345208545,-2.057041331362715,0.71338606911949],"aabb_xy":[[-0.19999159404068376,-2.0747215476421177],[-0.1646403328634871,-2.039361115083312]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.5899296856453018,-0.11381152804062333,0.71338606911949],"aabb_xy":[[-0.6243921636583896,-0.12047520522354616],[-0.555467207632214,-0.10714785085770051]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_21","position":[-0.6101134793271182,-1.802885733198185,0.71338606911949],"aabb_xy":[[-0.6326134795706336,-1.8150903678579569],[-0.5876134790836028,-1.790681098538413]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_22","position":[-0.36820925531453763,-1.0371875866319922,0.71338606911949],"aabb_xy":[[-0.41601542292830623,-1.1021875893390511],[-0.320403087700769,-0.9721875839249332]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.37448584653246897,-0.5728906495969266,0.71338606911949],"aabb_xy":[[0.31685537764519806,-0.6328906485236371],[0.4321163154197397,-0.5128906506702159]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_24","position":[-0.43572143745889497,1.5856720883822395,0.71338606911949],"aabb_xy":[[-0.4707214388103767,1.5653123524254184],[-0.40072143610741323,1.60603182433906]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.40382203524920834,1.470499788602051,0.71338606911949],"aabb_xy":[[0.3869113028128665,1.4570275830094361],[0.42073276768555007,1.4839719941946654]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.11539146001746159,0.24692405137228768,0.71338606911949],"aabb_xy":[[-0.12663651558807942,0.23568225364819242],[-0.10414640444684374,0.25816584909638296]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[-0.2736006204264711,-2.120026624413621,0.71338606911949],"aabb_xy":[[-0.2902777564195666,-2.1367265483875513],[-0.2569234844333756,-2.1033267004396907]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_28","position":[-0.6150418509001965,-1.065640755953907,0.71338606911949],"aabb_xy":[[-0.6269139339116977,-1.1506407556475573],[-0.6031697678886955,-0.9806407562602566]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_29","position":[0.4911738596241242,0.15742544834309058,0.71338606911949],"aabb_xy":[[0.4817563850542614,0.14800927120537155],[0.5005913341939869,0.1668416254808096]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_30","position":[-0.6116086724756363,-0.3274423435122955,0.71338606911949],"aabb_xy":[[-0.6916086746383987,-0.4073975271384391],[-0.5316086703128737,-0.24748715988615183]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_31","position":[-0.2734320163543909,-1.7898409034086311,0.71338606911949],"aabb_xy":[[-0.2959320168664315,-1.8123327617740292],[-0.2509320158423503,-1.7673490450432325]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_32","position":[0.36514986348014267,-1.8547145151327238,0.71338606911949],"aabb_xy":[[0.34265072775391564,-1.8772145159109868],[0.3876489992063696,-1.8322145143544608]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_33","position":[-0.607887729056731,-2.0978581027863648,0.71338606911949],"aabb_xy":[[-0.6916099545568134,-2.1878581063210607],[-0.5241655035566485,-2.007858099251669]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.686739450705993,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8446.png","name":"8446"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8446.png","name":"8446"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4182.png","name":"4182"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7362.png","name":"7362"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6557.png","name":"6557"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6994.png","name":"6994"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":819.1934907059563,"rotation_z_degrees":33.15773335600144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017517459723623268,0.006640994400484455,0.0011872639011913655]},{"name":"camera_2","offset_m":[-0.01026148370677038,-0.01804007557536206,-0.018639706934567294]},{"name":"camera_3","offset_m":[0.019696144818530225,0.003242582287330157,0.00159255555426574]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.274548023464706e-06,-0.0008419923571855424,-0.0001413304541783998],"end_effector_yaw_offset_degrees":0.35700930840122647},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0005518235115677672,-0.0002158839857711002,-0.0019086133604132246],"end_effector_yaw_offset_degrees":0.7495114767357345},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009500362451663356,0.00017062041052613155,1.792460584031227e-05],"end_effector_yaw_offset_degrees":0.2825421246777622},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001589983511304668,0.0016321736112437316,-0.0018423399891291101],"end_effector_yaw_offset_degrees":-0.7130139087986516},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00030041172385564295,-0.0016525591410519029,0.0016839445542219888],"end_effector_yaw_offset_degrees":-0.6797231726268438},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[4.3565915321524054e-05,0.0015745489798062247,-0.00017443106654407587],"end_effector_yaw_offset_degrees":-0.41636761197379}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004222907577074628,0.004507145969892761],"position_m":[0.14472290757707465,0.23920714596989276,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002435904938399673,0.004092177949778311],"position_m":[0.2160359049383997,-0.049607822050221684,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003300665059476414,-0.0013064323363409414],"position_m":[0.24579933494052358,-0.38470643233634094,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004703516359281355,-0.0038050052069497934],"position_m":[0.35830351635928137,0.11339499479305021,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b044126efbf12d251e7ddb2a2dc91f017a31a124f72e296e537a11d70b9b421f","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0020.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_8446/tex_ceiling_textures_6994/tex_floor_textures_6557/tex_table_textures_4182/tex_wall_textures_7362","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4695076873466691675,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4695076873466691675,"visual_seed":4695076873466691675,"scene_id":"lab_003","finished_at":"2026-09-06T10:26:32"} +{"episode_id":"ep_000021","started_at":"2026-09-06T10:26:37","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_0","position":[0.4937419842225257,-1.1976132152267165,0.71338606911949],"aabb_xy":[[0.44376456735727204,-1.2476132167159646],[0.5437194010877792,-1.1476132137374675]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_1","position":[0.6560976737200666,1.2681985435642988,0.71338606911949],"aabb_xy":[[0.6478831286043824,1.2595219532666573],[0.6643122188357503,1.27687513386194]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.5270753599816086,-1.6430130012368183,0.71338606911949],"aabb_xy":[[-0.5920753609387357,-1.6949612131705238],[-0.4620753590244813,-1.5910647893031127]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.4775501807995348,-1.9108502374027365,0.71338606911949],"aabb_xy":[[0.42766748392183873,-1.9608502366490113],[0.5274328776772311,-1.8608502381564618]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_4","position":[-0.3481266381989733,0.867034441972617,0.71338606911949],"aabb_xy":[[-0.36059399630870903,0.8545691173392935],[-0.33565928008923773,0.8794997666059405]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.584070631904223,-1.3508084768049502,0.71338606911949],"aabb_xy":[[0.5673934959111276,-1.3675084007788803],[0.6007477678973187,-1.3341085528310197]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.1614100841447923,1.746729729429315,0.71338606911949],"aabb_xy":[[0.1564540639599111,1.7242297292271935],[0.1663661043296735,1.7692297296314368]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_7","position":[0.07447458376951432,0.6686597467570716,0.71338606911949],"aabb_xy":[[0.054190281046115556,0.6483771216143626],[0.09475888649291307,0.6889423718997802]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[-0.23738793711057427,-1.8730959146909987,0.71338606911949],"aabb_xy":[[-0.24618999241954692,-1.8809072408459273],[-0.2285858818016015,-1.8652845885360692]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_9","position":[0.5772412648893182,0.7449395399575289,0.71338606911949],"aabb_xy":[[0.5663896586404424,0.7340802492298779],[0.5880928711381936,0.75579883068518]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_10","position":[0.06223158139010576,-0.8130011014272689,0.71338606911949],"aabb_xy":[[0.007238370052969007,-0.8680011017660626],[0.11722479272724254,-0.7580011010884754]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.5782351169792204,0.9004297742235909,0.71338606911949],"aabb_xy":[[-0.6482351187879658,0.8790760054594035],[-0.5082351151704749,0.9217835429877782]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_12","position":[0.2270072849165472,1.1782998070808088,0.71338606911949],"aabb_xy":[[0.17700728325505238,1.128301364825106],[0.27700728657804186,1.2282982493365113]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_13","position":[0.5545216375088193,0.16412361163040545,0.71338606911949],"aabb_xy":[[0.5458076684588847,0.14162361097121717],[0.5632356065587537,0.18662361228959362]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[-0.3922197730026925,-0.3702985520062514,0.71338606911949],"aabb_xy":[[-0.4297197729464589,-0.3785916420410879],[-0.3547197730589261,-0.36200546197141475]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[0.4409442772586496,0.3374650145471021,0.71338606911949],"aabb_xy":[[0.37594427937700187,0.2863413508405612],[0.5059442751402974,0.388588678253643]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[0.4525589042734173,-1.040238437776275,0.71338606911949],"aabb_xy":[[0.3925589037655643,-1.097085171462196],[0.5125589047812701,-0.9833917040903536]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_17","position":[-0.15685642798798838,-2.5669822906469912,0.71338606911949],"aabb_xy":[[-0.19185642788400725,-2.5753565261589313],[-0.12185642809196952,-2.558608055135051]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.6075989563593349,1.0467034609554493,0.71338606911949],"aabb_xy":[[0.570098956253742,1.039881299102468],[0.6450989564649279,1.0535256228084302]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_19","position":[0.6679473241807798,1.197135302993979,0.71338606911949],"aabb_xy":[[0.6329473228292981,1.176775567037158],[0.7029473255322616,1.2174950389507997]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_20","position":[-0.3672530251142055,-2.1850410379105267,0.71338606911949],"aabb_xy":[[-0.4569401014223209,-2.2750410381649773],[-0.27756594880609,-2.095041037656076]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_21","position":[0.704202818833285,-2.196597175651096,0.71338606911949],"aabb_xy":[[0.6937912601528011,-2.201942908986994],[0.7146143775137686,-2.191251442315197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6905512201255575,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/653.png","name":"653"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6068.png","name":"6068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8811.png","name":"8811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6015.png","name":"6015"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":597.5691791495768,"rotation_z_degrees":341.0075080789236,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006836115238872455,-0.003911193837963869,0.001594097832303628]},{"name":"camera_2","offset_m":[0.019870905236034863,-0.005179484981319189,-0.005688077626283698]},{"name":"camera_3","offset_m":[-0.0010718860517247852,0.009389170650227402,-0.009643570976718441]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011832628814900307,-0.0010008028642922362,0.0013357918554637149],"end_effector_yaw_offset_degrees":-0.9363366547850389},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0008600358763515769,-0.000608776045324924,0.0009563086104791316],"end_effector_yaw_offset_degrees":-0.974529121253362},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00187872383285245,0.001652282741058911,-0.0017928338949456193],"end_effector_yaw_offset_degrees":0.9078541657314068},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001855057429026117,-0.0012487457760736143,0.00046094242371484684],"end_effector_yaw_offset_degrees":-0.258598662771643},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019417059450047218,-0.0003360758048109962,-0.0006469156259647649],"end_effector_yaw_offset_degrees":-0.9705142770145581},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015070820957182982,-0.00019442454403053818,-0.0003759735214521572],"end_effector_yaw_offset_degrees":0.7230263770804233}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019497092796086023,-0.0043678222467620955],"position_m":[0.1385502907203914,0.2303321777532379,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001333036754187532,-0.002293517320005882],"position_m":[0.21226696324581248,-0.05599351732000588,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00044372005491833105,-0.0038858452331426885],"position_m":[0.24865627994508166,-0.3872858452331427,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003714682657200646,-0.001317148300116373],"position_m":[0.3573146826572007,0.11588285169988363,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3c49b17694a550604958aa0ba6d6c77a225846d6942f4e72c386ab1a4669917a","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0021.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6148/tex_ceiling_textures_6015/tex_floor_textures_8811/tex_table_textures_653/tex_wall_textures_6068","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4878342903245960817,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4878342903245960817,"visual_seed":4878342903245960817,"scene_id":"lab_003","finished_at":"2026-09-06T10:32:36"} +{"episode_id":"ep_000022","started_at":"2026-09-06T10:32:41","dimensions":{"distractor":{"count":28,"items":[{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_0","position":[0.1262565137338887,0.689444920170784,0.71338606911949],"aabb_xy":[[0.10870981881776978,0.6519449186065327],[0.14380320865000765,0.7269449217350352]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[0.5286608957288654,0.032316944274609405,0.71338606911949],"aabb_xy":[[0.49186626260395916,-0.00458893082197287],[0.5654555288537717,0.06922281937119168]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[0.6576441167809441,-0.5715126742071464,0.71338606911949],"aabb_xy":[[0.6076441158304113,-0.6030618212106676],[0.707644117731477,-0.5399635272036248]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.35145557284753925,-2.183465398257124,0.71338606911949],"aabb_xy":[[-0.37273358099101145,-2.248465400583197],[-0.33017756470406695,-2.118465395931051]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.34767307061239194,1.2614908502251194,0.71338606911949],"aabb_xy":[[-0.35301064627839657,1.2364908492959796],[-0.34233549494638743,1.2864908511542592]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[0.44271562677774656,1.5208996096271092,0.71338606911949],"aabb_xy":[[0.4268311335124214,1.5065466693282852],[0.4586001200430717,1.5352525499259333]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[-0.5070834360845309,-2.1419060828723135,0.71338606911949],"aabb_xy":[[-0.5720834370850314,-2.192692448026988],[-0.44208343508403036,-2.091119717717638]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_7","position":[0.3067711208351307,-2.5405566375249387,0.71338606911949],"aabb_xy":[[0.29121535142486543,-2.5561070707693463],[0.32232689024539596,-2.525006204280532]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.1901356975933347,1.2177855276665834,0.71338606911949],"aabb_xy":[[0.17263569845896753,1.2079059006289954],[0.20763569672770188,1.227665154704171]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_9","position":[-0.20137988337730517,0.6632749820769654,0.71338606911949],"aabb_xy":[[-0.2563721340128161,0.6082749803336527],[-0.14638763274179423,0.7182749838202782]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[-0.2981184129459577,-1.7471753880770633,0.71338606911949],"aabb_xy":[[-0.3157512485394853,-1.764798334092686],[-0.2804855773524301,-1.72955244206144]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_11","position":[0.6057528215804819,-1.6844882607042884,0.71338606911949],"aabb_xy":[[0.5969507662715091,-1.6922995868592172],[0.6145548768894545,-1.676676934549359]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_12","position":[0.28785398776941784,-1.4696256292259748,0.71338606911949],"aabb_xy":[[0.20785399075516986,-1.489760180899386],[0.3678539847836658,-1.4494910775525636]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_13","position":[-0.2102981552640879,-0.6515376483231734,0.71338606911949],"aabb_xy":[[-0.2602981556246539,-0.7015176355327762],[-0.1602981549035218,-0.6015576611135703]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_14","position":[-0.41207921934069974,1.6813768681790875,0.71338606911949],"aabb_xy":[[-0.45707180605915015,1.6363768689046385],[-0.36708663262224933,1.726376867453536]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_15","position":[-0.35125345330259994,0.7155057118835084,0.71338606911949],"aabb_xy":[[-0.3762534532351179,0.7086230436625852],[-0.3262534533700821,0.7223883801044318]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.14245619854900105,1.138430172617967,0.71338606911949],"aabb_xy":[[-0.1846406127098318,1.0744301723407559],[-0.1002717843881703,1.2024301728951783]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_17","position":[0.3686175812462411,-2.246144414731642,0.71338606911949],"aabb_xy":[[0.33747066240265794,-2.3161444134184492],[0.39976450008982417,-2.176144416044835]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_18","position":[-0.22793156970394468,-1.9227590714899305,0.71338606911949],"aabb_xy":[[-0.3129315683960193,-1.9547449348848094],[-0.14293157101187004,-1.8907732080950517]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.43401565282516474,0.7202239504860155,0.71338606911949],"aabb_xy":[[-0.4388592475863947,0.7153722980070314],[-0.42917205806393477,0.7250756029649996]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_20","position":[-0.5004593003094943,0.5028107959982089,0.71338606911949],"aabb_xy":[[-0.5229584360357211,0.4803107952199459],[-0.4779601645832672,0.5253107967764719]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[0.06242241797089099,-1.0340998482012975,0.71338606911949],"aabb_xy":[[-0.001577579314757667,-1.0756065671541415],[0.12642241525653963,-0.9925931292484536]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.3537883261747843,-1.320697089666815,0.71338606911949],"aabb_xy":[[0.333729914561544,-1.340762176575973],[0.3738467377880246,-1.3006320027576577]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_23","position":[0.03733333149647844,-2.219849943502905,0.71338606911949],"aabb_xy":[[0.029118786380794456,-2.228526533800546],[0.04554787661216241,-2.2111733532052633]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.09357170900012635,-1.3290207780114507,0.71338606911949],"aabb_xy":[[0.07892830344609336,-1.3436794976682347],[0.10821511455415933,-1.3143620583546662]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_25","position":[0.24134234820499945,-1.6291728002733512,0.71338606911949],"aabb_xy":[[0.18621714257540864,-1.6891728017146381],[0.29646755383459017,-1.5691727988320638]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_26","position":[-0.2442975750064279,-1.4220004389017902,0.71338606911949],"aabb_xy":[[-0.3092975761123712,-1.4469658119699187],[-0.17929757390048462,-1.397035065833662]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_27","position":[-0.0751448076885124,-1.570482848962717,0.71338606911949],"aabb_xy":[[-0.10562905781554255,-1.620482848744213],[-0.04466055756148224,-1.520482849181221]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883728859473995,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3518.png","name":"3518"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3518.png","name":"3518"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3548.png","name":"3548"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8423.png","name":"8423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/286.png","name":"286"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3112.png","name":"3112"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":525.4553455523104,"rotation_z_degrees":124.29865704628673,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01258152409450276,-0.003847573134572225,0.0067544922894506275]},{"name":"camera_2","offset_m":[0.007104551902787297,0.017444094446199775,0.013446618391025334]},{"name":"camera_3","offset_m":[0.014390595010034615,0.016834671960723847,0.019382929953765667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00046755236269200445,-0.001960559042192426,0.0015730527528002758],"end_effector_yaw_offset_degrees":-0.1117044980199764},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0006652682863400865,-0.00178078351791265,0.0017457498330291413],"end_effector_yaw_offset_degrees":0.26430459665678563},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012752189388804697,-0.0016443462102724632,0.0017827022997673344],"end_effector_yaw_offset_degrees":0.3831528083096283},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010263059475350777,-0.0014252341708854083,0.0015970632108177184],"end_effector_yaw_offset_degrees":0.7853158477969211},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019249830133246347,-0.0005432742739262251,0.0008838088406714828],"end_effector_yaw_offset_degrees":0.3213491677470288},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003813965983158968,-0.000225022255395055,0.00033058133829279605],"end_effector_yaw_offset_degrees":-0.1775801280323046}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014523147520870893,-0.0042301914387083105],"position_m":[0.1419523147520871,0.23046980856129168,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020507010756791524,-0.00013449078095073303],"position_m":[0.21565070107567916,-0.05383449078095073,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0010728205368917953,0.002282840203886938],"position_m":[0.25017282053689177,-0.3811171597961131,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000511287886349074,0.004349950169338747],"position_m":[0.3541112878863491,0.12154995016933874,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5c13f66681453421075cb24264cfe164d23c1baed17ef6789e3c70c07ce5f942","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0022.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3518/tex_ceiling_textures_3112/tex_floor_textures_286/tex_table_textures_3548/tex_wall_textures_8423","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5480912914711953117,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5480912914711953117,"visual_seed":5480912914711953117,"scene_id":"lab_003","finished_at":"2026-09-06T10:38:33"} +{"episode_id":"ep_000023","started_at":"2026-09-06T10:38:40","dimensions":{"distractor":{"count":24,"items":[{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_0","position":[-0.47867039316897764,-1.7116571106051102,0.71338606911949],"aabb_xy":[[-0.5586703964268206,-1.7916536183970941],[-0.3986703899111347,-1.6316606028131262]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_1","position":[-0.27906717181317087,0.7048683761023127,0.71338606911949],"aabb_xy":[[-0.2899187780620465,0.6940090853746618],[-0.2682155655642953,0.7157276668299638]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_2","position":[0.3465849368707701,-0.572714040421904,0.71338606911949],"aabb_xy":[[0.27658494046080817,-0.5931519760735856],[0.41658493328073176,-0.5522761047702222]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[0.3568544199161421,-1.9410672084764446,0.71338606911949],"aabb_xy":[[0.2928544185081514,-1.9928561600003694],[0.42085442132413275,-1.88927825695252]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_4","position":[0.2517882109787163,-0.7443184906647391,0.71338606911949],"aabb_xy":[[0.1717882139644683,-0.7644530423381503],[0.33178820799296427,-0.7241839389913277]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_5","position":[0.34923542521176243,0.7136806895825805,0.71338606911949],"aabb_xy":[[0.3289511224883636,0.6933980644398715],[0.36951972793516114,0.7339633147252892]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_6","position":[0.030552561145173573,-2.098991256796543,0.71338606911949],"aabb_xy":[[0.0027075243645664528,-2.1297757555348547],[0.0583975979257807,-2.0682067580582313]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_7","position":[0.4231916702887979,1.3537947667874448,0.71338606911949],"aabb_xy":[[0.39270742016176774,1.3037947670059487],[0.45367592041582805,1.4037947665689405]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_8","position":[0.6237959672425404,-1.8020323687739634,0.71338606911949],"aabb_xy":[[0.5992497516197896,-1.8322812653230005],[0.648342182865291,-1.7717834722249264]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.6832797939309405,-1.4767129188147408,0.71338606911949],"aabb_xy":[[0.6521328750873573,-1.5467129175015477],[0.7144267127745235,-1.4067129201279334]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[0.28475983892151324,-0.9146015864060926,0.71338606911949],"aabb_xy":[[0.27604586987157864,-0.9371015870652807],[0.2934738079714476,-0.8921015857469042]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.26548414844981283,-1.4203330155071139,0.71338606911949],"aabb_xy":[[0.25907033480662783,-1.4267428357547818],[0.2718979620929977,-1.413923195259445]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[-0.6489228204847349,-0.29959249244827335,0.71338606911949],"aabb_xy":[[-0.660855554846563,-0.3119746452561328],[-0.6369900861229069,-0.28721033964041404]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[-0.12331092342059291,1.3909629849683567,0.71338606911949],"aabb_xy":[[-0.2033109248507201,1.3114458299557472],[-0.0433109219904657,1.4704801399809662]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_14","position":[0.44304772764803,-0.718626075380377,0.71338606911949],"aabb_xy":[[0.4126496165488864,-0.7490329773820464],[0.47344583874717355,-0.6882191733787074]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.3556941523375074,-0.4788660034874326,0.71338606911949],"aabb_xy":[[-0.4056771025249866,-0.5288660031299929],[-0.30571120215002795,-0.4288660038448721]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_16","position":[-0.07590519780679561,-2.345768983156629,0.71338606911949],"aabb_xy":[[-0.16090519622421884,-2.4306432786189145],[0.009094800610627632,-2.2608946876943445]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_17","position":[0.3169954363323646,1.7739636586489511,0.71338606911949],"aabb_xy":[[0.251995435331864,1.7231772934942762],[0.38199543733286506,1.824750023803626]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_18","position":[0.28704027954833755,-2.433502409687335,0.71338606911949],"aabb_xy":[[0.21704027615677554,-2.468818183390766],[0.3570402829398995,-2.398186635983904]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[-0.2674315538863249,-1.1099854894044276,0.71338606911949],"aabb_xy":[[-0.29101667735021974,-1.1749854916498594],[-0.24384643042243004,-1.0449854871589959]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[-0.33621772709655384,-2.2227020336000143,0.71338606911949],"aabb_xy":[[-0.34384199518673214,-2.230335257136558],[-0.32859345900637565,-2.2150688100634706]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.5062488191854637,0.29973458663878105,0.71338606911949],"aabb_xy":[[-0.5106794485403039,0.29428621490409845],[-0.5018181898306235,0.30518295837346365]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.6335328016175654,1.6479823514067342,0.71338606911949],"aabb_xy":[[0.6264924916840285,1.5679823520070633],[0.6405731115511025,1.727982350806406]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_23","position":[-0.47442118835304403,-2.203818775205454,0.71338606911949],"aabb_xy":[[-0.4797537030076571,-2.20914310345069],[-0.4690886736984311,-2.1984944469602183]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691206815865183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/697.png","name":"697"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/134.png","name":"134"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8812.png","name":"8812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6350.png","name":"6350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3979.png","name":"3979"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":806.9302366695035,"rotation_z_degrees":23.400165594905967,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0019711899649850866,-0.0045473136890656456,-0.0186421001682637]},{"name":"camera_2","offset_m":[0.007908948172012313,0.006816286865309388,0.009636979678932331]},{"name":"camera_3","offset_m":[-0.013886722645449778,-0.01678637085973928,-0.005702031587966623]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000671052321370608,-0.0013774452673280964,-0.0017663091984533807],"end_effector_yaw_offset_degrees":0.07291465198418301},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0016608416634381774,0.0015127629857675648,0.001996827021453972],"end_effector_yaw_offset_degrees":0.09506891320208366},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012489103608802204,0.0007506670409067784,0.0018386694148266845],"end_effector_yaw_offset_degrees":-0.7704295819551623},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008900952514914419,-0.0003733880467048647,-0.0013519825576868566],"end_effector_yaw_offset_degrees":-0.714561935614983},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001584477932333488,-0.0002445149939097515,-0.0017950848704333855],"end_effector_yaw_offset_degrees":0.04987825653194333},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001234674337073165,0.001258672243577,-0.0007616184001836346],"end_effector_yaw_offset_degrees":0.31329880531084386}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001565003640441093,0.0037379097222248114],"position_m":[0.1420650036404411,0.2384379097222248,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002340468447340922,0.0031125578942951112],"position_m":[0.21125953155265909,-0.050587442105704886,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.001330236846092775,-0.0024298336237062713],"position_m":[0.2504302368460928,-0.38582983362370626,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00014829168966872582,-0.002723306153483226],"position_m":[0.3534517083103313,0.11447669384651678,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"55378e494f2bc56c7cb6eee76f793dce3521c1bcacd6acb99e9d5c898f5b3273","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0023.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_697/tex_ceiling_textures_3979/tex_floor_textures_6350/tex_table_textures_134/tex_wall_textures_8812","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6753324890925885747,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6753324890925885747,"visual_seed":6753324890925885747,"scene_id":"lab_003","finished_at":"2026-09-06T10:44:37"} +{"episode_id":"ep_000024","started_at":"2026-09-06T10:44:42","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.5571714995494366,-1.4727851356551835,0.71338606911949],"aabb_xy":[[0.5021782882122998,-1.5277851359939776],[0.6121647108865733,-1.4177851353163902]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.05737815429038984,-1.5712628421714383,0.71338606911949],"aabb_xy":[[-0.09839609767676072,-1.6212628428023959],[-0.01636021090401895,-1.5212628415404812]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_2","position":[-0.6843853203989787,-0.5287476906718536,0.71338606911949],"aabb_xy":[[-0.6882991935944012,-0.5374967060784104],[-0.6804714472035562,-0.5199986752652968]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[0.10902356209350594,-2.42615561332735,0.71338606911949],"aabb_xy":[[0.08652356208335765,-2.440251832966953],[0.13152356210365423,-2.4120593936877466]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[0.1051540546512092,-1.9405242854971585,0.71338606911949],"aabb_xy":[[0.03515405284246376,-1.9618780542613459],[0.17515405645995463,-1.9191705167329711]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_5","position":[0.4542479947380724,-1.172257553377397,0.71338606911949],"aabb_xy":[[0.43757085874497686,-1.1889574773513272],[0.4709251307311679,-1.1555576294034666]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_6","position":[-0.6399437593923495,-1.128297928063183,0.71338606911949],"aabb_xy":[[-0.6574437596516862,-1.142389470251956],[-0.622443759133013,-1.1142063858744107]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_7","position":[-0.4678232359058419,0.5638544879232699,0.71338606911949],"aabb_xy":[[-0.5179206998869155,0.49985448741345795],[-0.4177257719247683,0.6278544884330816]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.49077355584143484,-0.9002147484669913,0.71338606911949],"aabb_xy":[[-0.5293192486666358,-0.9387605195231798],[-0.4522278630162338,-0.8616689774108026]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_9","position":[0.4282454633723143,-2.0661539547677665,0.71338606911949],"aabb_xy":[[0.34324546495489106,-2.1510282502300515],[0.5132454617897375,-1.9812796593054816]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.672403850611029,1.5022834468869894,0.71338606911949],"aabb_xy":[[0.6675045583044654,1.4746065275844205],[0.6773031429175924,1.529960366189558]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.5534742521130838,1.3346862944443156,0.71338606911949],"aabb_xy":[[0.48947425568576197,1.2875166706222194],[0.6174742485404058,1.3818559182664123]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_12","position":[-0.2741711259337745,0.5279959945693125,0.71338606911949],"aabb_xy":[[-0.3241711268843073,0.49644684756579105],[-0.2241711249832417,0.5595451415728339]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.64204221876679,0.01822264287206732,0.71338606911949],"aabb_xy":[[0.5844117498795192,-0.04177735605464328],[0.6996726876540609,0.0782226417987779]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[-0.11740443119416066,1.2136529354882954,0.71338606911949],"aabb_xy":[[-0.19740442815719983,1.1365772938445218],[-0.0374044342311215,1.2907285771320687]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_15","position":[0.30717799972892146,1.4929743000622087,0.71338606911949],"aabb_xy":[[0.29848003743820617,1.480849325754734],[0.31587596201963675,1.5050992743696836]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_16","position":[0.5107869981077202,0.5044041171000333,0.71338606911949],"aabb_xy":[[0.4467869978337421,0.45433801690274533],[0.5747869983816986,0.5544702172973213]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.4689860881465493,0.6929264795364247,0.71338606911949],"aabb_xy":[[-0.5064860879635829,0.6882882682252828],[-0.43148608832951574,0.6975646908475664]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_18","position":[-0.42499198755093226,-2.073181221255003,0.71338606911949],"aabb_xy":[[-0.4362370431215501,-2.0844230189790984],[-0.4137469319803144,-2.061939423530908]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_19","position":[-0.5177716881301532,-0.1380672030814898,0.71338606911949],"aabb_xy":[[-0.525808022831438,-0.14610532238590657],[-0.5097353534288683,-0.130029083777073]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_20","position":[0.24723370520981358,-2.440430550199778,0.71338606911949],"aabb_xy":[[0.23117177775129594,-2.5254305520123697],[0.2632956326683312,-2.355430548387186]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[-0.30935142911393454,1.1082485328152818,0.71338606911949],"aabb_xy":[[-0.32940984072717483,1.0881834459061241],[-0.28929301750069425,1.128313619724439]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_22","position":[-0.30422666234217033,-0.15382246565895263,0.71338606911949],"aabb_xy":[[-0.3083048202492201,-0.15790344590721594],[-0.30014850443512064,-0.14974148541068932]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.25992865285251293,-2.4352287356626534,0.71338606911949],"aabb_xy":[[-0.26717241889875826,-2.5152287338662562],[-0.2526848868062676,-2.3552287374590515]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_24","position":[-0.6109199714001244,0.26806451358294314,0.71338606911949],"aabb_xy":[[-0.6608973882653779,0.21806451209369457],[-0.5609425545348707,0.31806451507219163]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_25","position":[-0.05082200370658163,0.6159284146693591,0.71338606911949],"aabb_xy":[[-0.07440712717047648,0.5509284124239274],[-0.02723688024268678,0.680928416914791]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_26","position":[-0.2734860270884712,1.6202372983397768,0.71338606911949],"aabb_xy":[[-0.2805263370220082,1.5402372989401056],[-0.2664457171549342,1.7002372977394484]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_27","position":[-0.31302497679411545,-0.9624897741263632,0.71338606911949],"aabb_xy":[[-0.33802497634585393,-0.9726322579914979],[-0.28802497724237697,-0.9523472902612284]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6865723943538241,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3686.png","name":"3686"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3686.png","name":"3686"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5350.png","name":"5350"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4604.png","name":"4604"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6539.png","name":"6539"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6515.png","name":"6515"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":622.9151217442056,"rotation_z_degrees":315.289828612229,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012127826936679948,0.01605358131992168,0.01315770211116633]},{"name":"camera_2","offset_m":[0.01088518682956438,-0.007866683491572135,0.0186104578330621]},{"name":"camera_3","offset_m":[-0.003961502842181108,-0.003263097715887106,-0.007044486669898303]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00019311015361095905,-0.000859493289106105,5.0285592380844204e-05],"end_effector_yaw_offset_degrees":0.84558501537386},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0013144626376459048,0.0011707058755318967,0.0017018489011224893],"end_effector_yaw_offset_degrees":-0.6825497900510098},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001845186422779453,-0.0019454731798786162,-0.0008380691718891606],"end_effector_yaw_offset_degrees":0.5245392102376811},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013965842913915756,-0.0005454440907956255,-0.0014837490913967204],"end_effector_yaw_offset_degrees":-0.6590688492169416},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011161833535250332,-0.00144334645468658,0.00034003177409698245],"end_effector_yaw_offset_degrees":0.9870642455745693},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00051648612248895,-0.0018244220237328928,0.0004531873324620096],"end_effector_yaw_offset_degrees":0.45171356465525725}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.036132031959641e-05,-0.0030448277687004244],"position_m":[0.1405403613203196,0.23165517223129956,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0041608715589604,-0.004188321110991278],"position_m":[0.2177608715589604,-0.05788832111099128,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00012146093146061816,0.004105200323629738],"position_m":[0.2492214609314606,-0.37929479967637025,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001535335025622542,0.003134734369824658],"position_m":[0.3520646649743775,0.12033473436982466,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5847aa603cb14c21f9b2989454ed8f2dcf9164f832de256da43c9ea0e8157cb8","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0024.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3686/tex_ceiling_textures_6515/tex_floor_textures_6539/tex_table_textures_5350/tex_wall_textures_4604","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4609736219819810450,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4609736219819810450,"visual_seed":4609736219819810450,"scene_id":"lab_003","finished_at":"2026-09-06T10:50:39"} +{"episode_id":"ep_000025","started_at":"2026-09-06T10:50:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_0","position":[0.34427256552231933,1.7489022465690547,0.71338606911949],"aabb_xy":[[0.3346409293018897,1.7392649337893455],[0.35390420174274895,1.7585395593487634]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[-0.22895316648988612,-1.1964283039061958,0.71338606911949],"aabb_xy":[[-0.2330890228225863,-1.233928303350553],[-0.22481731015718592,-1.158928304461839]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[0.4522668924628326,0.6249651517976047,0.71338606911949],"aabb_xy":[[0.3872668898250391,0.5734855530981577],[0.5172668951006261,0.6764447504970517]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.20239684866895558,-0.6604750749932822,0.71338606911949],"aabb_xy":[[-0.23989684724457638,-0.67321137065684],[-0.16489685009333477,-0.6477387793297241]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[-0.2693920915548078,-2.412502221529253,0.71338606911949],"aabb_xy":[[-0.2860692275479033,-2.4292021455031834],[-0.2527149555617123,-2.395802297555323]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_5","position":[0.5461308871874868,-1.6217366868393865,0.71338606911949],"aabb_xy":[[0.5412872924262568,-1.6265883393183709],[0.5509744819487168,-1.6168850343604027]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.4492030727164671,-1.9399375749416028,0.71338606911949],"aabb_xy":[[0.3852030708041248,-1.9958487241996132],[0.5132030746288094,-1.8840264256835924]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.5273837830614279,-1.20067010708049,0.71338606911949],"aabb_xy":[[0.4974162261516023,-1.2306701073783757],[0.5573513399712536,-1.1706701067826042]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_8","position":[-0.030951855738874268,0.7908772491539451,0.71338606911949],"aabb_xy":[[-0.08095185517906989,0.7409093246696286],[0.019048143701321348,0.8408451736382612]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[-0.4732968632941753,1.6625442875255518,0.71338606911949],"aabb_xy":[[-0.4820108323441097,1.6400442868663632],[-0.4645828942442407,1.6850442881847396]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[-0.3630365655370585,0.0567294050361582,0.71338606911949],"aabb_xy":[[-0.3935208156640887,0.006729405254662257],[-0.3325523154100284,0.10672940481765414]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_11","position":[-0.4022537385576653,-2.1676542434261368,0.71338606911949],"aabb_xy":[[-0.4372537385341611,-2.1771188594737536],[-0.36725373858116944,-2.15818962737852]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.2925277386908246,0.8022196347909882,0.71338606911949],"aabb_xy":[[-0.35015820757809535,0.7422196358642775],[-0.23489726980355363,0.8622196337176986]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[0.4716066918943629,-0.9195973681713858,0.71338606911949],"aabb_xy":[[0.40160669008561745,-0.9409511369355732],[0.5416066937031083,-0.8982435994071984]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[0.33685189965339,0.7348542288722166,0.71338606911949],"aabb_xy":[[0.32922763156321183,0.7272210053356728],[0.3444761677435683,0.7424874524087602]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[-0.5429745014572388,-1.5670921776435904,0.71338606911949],"aabb_xy":[[-0.5929745028181259,-1.6170700822190063],[-0.4929745000963515,-1.517114273068175]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.5540199975264125,-0.8330504492045734,0.71338606911949],"aabb_xy":[[-0.5826693298868286,-0.8616960084816492],[-0.5253706651659962,-0.8044048899274976]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.6931875928402795,-0.7539650597388401,0.71338606911949],"aabb_xy":[[0.6757568777612729,-0.7712371744026907],[0.7106183079192859,-0.7366929450749891]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_18","position":[-0.43942745885294215,-0.6659592660178231,0.71338606911949],"aabb_xy":[[-0.44438347903782344,-0.6884592662199447],[-0.434471438668061,-0.6434592658157015]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_19","position":[0.33709425580042995,-1.1773288517561287,0.71338606911949],"aabb_xy":[[0.27309425542289634,-1.227074118606941],[0.40109425617796357,-1.1275835849053164]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_20","position":[-0.25817267158421675,0.6403565117981844,0.71338606911949],"aabb_xy":[[-0.3231726725413439,0.5884082998644788],[-0.1931726706270895,0.69230472373189]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_21","position":[0.4525827890164815,-0.1330740737176117,0.71338606911949],"aabb_xy":[[0.43471368126202603,-0.1469069816948226],[0.470451896770937,-0.11924116574040075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.68769115969233,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8253.png","name":"8253"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8253.png","name":"8253"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9861.png","name":"9861"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7735.png","name":"7735"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/190.png","name":"190"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8192.png","name":"8192"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":576.0360176745132,"rotation_z_degrees":112.91043154248331,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0015743306497724117,-0.019780328724814108,0.013106459685094805]},{"name":"camera_2","offset_m":[-0.003483595489503489,-0.007393781075385544,0.00945029934483375]},{"name":"camera_3","offset_m":[-0.017298322332082235,-0.00926782985356323,-0.015545715170081338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00011007069445648546,-0.00024712418005462793,-0.0013053923682224263],"end_effector_yaw_offset_degrees":0.20446616956514285},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0018833519827799435,-0.0009505955725913019,-0.00040106778975452823],"end_effector_yaw_offset_degrees":-0.7703572338788722},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016044334746092553,-0.000690224112245759,-0.0007754243597405046],"end_effector_yaw_offset_degrees":0.6733182917955929},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001950419349390455,-0.0009253721829911813,-0.00010091816670832008],"end_effector_yaw_offset_degrees":-0.7976079524933688},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015321195081143344,0.001132815875795792,-0.000180299229919557],"end_effector_yaw_offset_degrees":-0.48268068731944025},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008767099102656628,0.0007942960683596117,0.0014137065875108926],"end_effector_yaw_offset_degrees":-0.2583734901464596}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00041560171062942144,-0.002965604330575665],"position_m":[0.14091560171062945,0.23173439566942433,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003037426773692083,0.003953445405533604],"position_m":[0.2166374267736921,-0.04974655459446639,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0014943069799461615,0.004152299175454164],"position_m":[0.25059430697994617,-0.37924770082454584,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035766505093457815,-0.00015750155437211158],"position_m":[0.3500233494906542,0.11704249844562789,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68b34f31ac9aab350086c0073846631eb7965d6100dc84cc53debd44caa9492b","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0025.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8253/tex_ceiling_textures_8192/tex_floor_textures_190/tex_table_textures_9861/tex_wall_textures_7735","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1443182120269002778,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1443182120269002778,"visual_seed":1443182120269002778,"scene_id":"lab_003","finished_at":"2026-09-06T10:56:40"} +{"episode_id":"ep_000026","started_at":"2026-09-06T10:56:46","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.06703295751953264,-1.6142832181842408,0.71338606911949],"aabb_xy":[[0.0020329565624054437,-1.6662314301179462],[0.13203295847665986,-1.562335006250535]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.33973875976338913,-1.4701100436176773,0.71338606911949],"aabb_xy":[[-0.364252383860395,-1.4943746369197135],[-0.31522513566638327,-1.4458454503156406]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_2","position":[0.19843054497647838,1.0937657597967485,0.71338606911949],"aabb_xy":[[0.16978121261606213,1.0651202005196725],[0.22707987733689458,1.122411319073824]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_3","position":[-0.03645010927737835,-1.2033549082783759,0.71338606911949],"aabb_xy":[[-0.09046570555927835,-1.2673549111706328],[0.01756548700452166,-1.1393549053861185]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_4","position":[0.5918828939758567,-1.9070285256473603,0.71338606911949],"aabb_xy":[[0.5278828953892842,-1.9540354890468687],[0.6558828925624292,-1.8600215622478513]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_5","position":[0.40283467479670976,-1.5625294167270907,0.71338606911949],"aabb_xy":[[0.3803346752730023,-1.5850253641777114],[0.4253346743204171,-1.54003346927647]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[-0.5444395458804812,1.477674896205111,0.71338606911949],"aabb_xy":[[-0.5497771215464857,1.4526748952759712],[-0.5391019702144766,1.5026748971342507]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[0.128613770359434,-1.9555744121234793,0.71338606911949],"aabb_xy":[[0.09111376969485528,-1.9712614701237012],[0.16611377102401267,-1.9398873541232569]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_8","position":[0.39753743234910255,-0.7170415146500366,0.71338606911949],"aabb_xy":[[0.34765473547140635,-0.7670415138963115],[0.4474201292267988,-0.6670415154037619]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.6458801610633136,-1.281361968707865,0.71338606911949],"aabb_xy":[[0.5908869497261768,-1.3363619690466588],[0.7008733724004503,-1.2263619683690716]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_10","position":[0.3101033539701654,0.7006299870956285,0.71338606911949],"aabb_xy":[[0.2301033570071262,0.6235543454518551],[0.39010335093320453,0.777705628739402]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[-0.44213219327853237,-0.8279549282022929,0.71338606911949],"aabb_xy":[[-0.4874108081596816,-0.8919549275504766],[-0.39685357839738306,-0.7639549288541092]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_12","position":[0.6076523179554247,1.2458261172255978,0.71338606911949],"aabb_xy":[[0.5576574850274831,1.195826118330354],[0.6576471508833663,1.295826116120841]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.0020851295043677887,-1.9713866142707186,0.71338606911949],"aabb_xy":[[-0.03708513085584952,-1.9917463502275394],[0.03291487184711394,-1.9510268783138978]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_14","position":[0.2951044098291985,0.8321993845071458,0.71338606911949],"aabb_xy":[[0.27819367739285666,0.8187271789145312],[0.3120151422655402,0.8456715900997602]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_15","position":[0.6387317149603351,-0.3309186198315057,0.71338606911949],"aabb_xy":[[0.6346535570532855,-0.33499960007976903],[0.6428098728673849,-0.3268376395832424]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.6475420096760871,-0.6403762497500571,0.71338606911949],"aabb_xy":[[-0.6738308339965277,-0.6666476834047081],[-0.6212531853556463,-0.6141048160954057]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[0.45608217664353057,-0.5472084129702806,0.71338606911949],"aabb_xy":[[0.40608217498203575,-0.5972068552259832],[0.5060821783050252,-0.4972099707145778]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_18","position":[0.2675566245553558,-0.89267779365289,0.71338606911949],"aabb_xy":[[0.2247899176759356,-0.9566777970746926],[0.310323331434776,-0.8286777902310877]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.4990536859859478,0.5104514878896005,0.71338606911949],"aabb_xy":[[-0.5461830649877835,0.4464514868451984],[-0.4519243069841121,0.5744514889340023]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_20","position":[-0.2332008190330499,0.5966375488103095,0.71338606911949],"aabb_xy":[[-0.2557145108565071,0.5266375482093019],[-0.21068712720959273,0.6666375494113169]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.5417659263574908,-0.3069636855795994,0.71338606911949],"aabb_xy":[[0.5286146803862014,-0.33196368533628595],[0.5549171723287801,-0.28196368582291287]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_22","position":[-0.6510943234791172,0.29318164900759136,0.71338606911949],"aabb_xy":[[-0.6885943234228836,0.2848885589727547],[-0.6135943235353508,0.3014747390424279]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907272573128077,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5122.png","name":"5122"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5122.png","name":"5122"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1854.png","name":"1854"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2543.png","name":"2543"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8811.png","name":"8811"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9932.png","name":"9932"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":537.6497338852661,"rotation_z_degrees":108.24233259895934,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015625895742285,0.019100578759183102,0.0032438607232717805]},{"name":"camera_2","offset_m":[0.004495075803209878,-0.005926375584393245,-0.014405200519671472]},{"name":"camera_3","offset_m":[0.0048345145517581616,0.009958245921500075,0.016454896418334423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0018495419599853444,-0.0018963793874619266,-0.0006471931106752896],"end_effector_yaw_offset_degrees":-0.8873141978425976},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007342167649265897,8.91794756544234e-05,-0.0006071320773386576],"end_effector_yaw_offset_degrees":0.3169588881965748},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001080979693979724,0.0016837055137158548,-0.0019272926268775565],"end_effector_yaw_offset_degrees":0.04938361911979561},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017398922563417745,0.0011466998709848885,-6.197088580675689e-05],"end_effector_yaw_offset_degrees":0.22350905375050445},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001217342401398596,0.0008558126386289792,-0.0005881559725841434],"end_effector_yaw_offset_degrees":0.21530937578924325},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017019125141346518,0.0005040325293926523,-0.0010721344944926913],"end_effector_yaw_offset_degrees":-0.9058004712166396}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0028410207721917555,0.002283816593350631],"position_m":[0.14334102077219177,0.23698381659335063,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038079360509761326,-0.0012058083905005412],"position_m":[0.2097920639490239,-0.05490580839050054,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031921215796354057,0.0012181446580223302],"position_m":[0.2522921215796354,-0.3821818553419777,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012959071233753661,0.0012948809721114425],"position_m":[0.3523040928766247,0.11849488097211144,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"230e7ef9973584f32dac7893fc264f3bda191c401e2ae0e4161199cfe2c7e806","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0026.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_5122/tex_ceiling_textures_9932/tex_floor_textures_8811/tex_table_textures_1854/tex_wall_textures_2543","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2749336133081146936,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2749336133081146936,"visual_seed":2749336133081146936,"scene_id":"lab_003","finished_at":"2026-09-06T11:02:46"} +{"episode_id":"ep_000027","started_at":"2026-09-06T11:02:52","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_0","position":[-0.17541429893826488,-0.9294462188829966,0.71338606911949],"aabb_xy":[[-0.23940999633336144,-0.9934462171837053],[-0.11141860154316827,-0.8654462205822879]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_1","position":[0.5424550513631698,-1.4414610942318022,0.71338606911949],"aabb_xy":[[0.5179088357404191,-1.471709990780839],[0.5670012669859206,-1.411212197682765]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.5389923387897877,1.0982108119204734,0.71338606911949],"aabb_xy":[[-0.6039923397469148,1.0462625999867678],[-0.4739923378326604,1.150159023854179]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[0.664786522111384,0.9120973755011903,0.71338606911949],"aabb_xy":[[0.6584744225750456,0.9063304362479714],[0.6710986216477224,0.917864314754409]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.27312154079993556,-0.8934436389457889,0.71338606911949],"aabb_xy":[[0.21312154020391938,-0.9482561114910124],[0.33312154139595174,-0.8386311664005655]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_5","position":[0.2186193075208649,0.8750403558489444,0.71338606911949],"aabb_xy":[[0.18996997516044864,0.8463947965718684],[0.2472686398812811,0.90368591512602]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[0.5528845184937072,-0.03978874332116167,0.71338606911949],"aabb_xy":[[0.5153845181454795,-0.05158013890224522],[0.590384518841935,-0.027997347740078116]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.3887793663935233,-0.5879880904506123,0.71338606911949],"aabb_xy":[[0.38065167820021006,-0.5969016988613199],[0.3969070545868365,-0.5790744820399046]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_8","position":[-0.18259310250893168,1.5260429831810884,0.71338606911949],"aabb_xy":[[-0.26631532800901414,1.4360429796463925],[-0.09887087700884922,1.6160429867157844]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_9","position":[-0.31118698901219766,0.09608171489890616,0.71338606911949],"aabb_xy":[[-0.35618699047842656,0.05108185803742549],[-0.26618698754596887,0.14108157176038683]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_10","position":[0.6543524402677865,-0.7612122444940963,0.71338606911949],"aabb_xy":[[0.6168524397704283,-0.7651809280422147],[0.6918524407651447,-0.7572435609459779]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_11","position":[-0.13033463076469842,-1.9470086041417605,0.71338606911949],"aabb_xy":[[-0.22033462935916837,-1.9632591904551815],[-0.04033463217022848,-1.9307580178283394]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[0.2015100520044304,-2.251748468520601,0.71338606911949],"aabb_xy":[[0.17767383436382533,-2.341748469329088],[0.22534626964503549,-2.161748467712115]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_13","position":[-0.019635969968224476,-1.4071103034916346,0.71338606911949],"aabb_xy":[[-0.06963597162971923,-1.4571087457473373],[0.030364031693270285,-1.3571118612359319]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_14","position":[-0.3477820341473305,-1.1429466813337636,0.71338606911949],"aabb_xy":[[-0.3852820349393259,-1.1493145222919536],[-0.310282033355335,-1.1365788403755737]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[0.5652168574537564,-1.690836312733944,0.71338606911949],"aabb_xy":[[0.47521686095288446,-1.7367479551524019],[0.6552168539546279,-1.6449246703154854]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[0.4881445772707955,1.0205275218303034,0.71338606911949],"aabb_xy":[[0.44537787039137533,0.9565275184085011],[0.5309112841502157,1.084527525252106]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[-0.34923648480083525,-2.349515858222181,0.71338606911949],"aabb_xy":[[-0.4292303083793935,-2.4295158608150227],[-0.2692426612222771,-2.2695158556293396]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.1379975677329881,-1.8203927704339393,0.71338606911949],"aabb_xy":[[0.0880201508677345,-1.8703927719231876],[0.18797498459824166,-1.7703927689446906]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.15966586492981505,0.7851469710361876,0.71338606911949],"aabb_xy":[[-0.22366586132538815,0.7211836826174541],[-0.095665868534242,0.8491102594549212]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6906022546655972,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8748.png","name":"8748"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8748.png","name":"8748"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5312.png","name":"5312"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2071.png","name":"2071"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/292.png","name":"292"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":608.5699573232064,"rotation_z_degrees":29.150141071508436,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.015559448344778883,-0.00011780276090635894,0.012318441680933646]},{"name":"camera_2","offset_m":[0.011041750847053309,-0.001992471903156684,-0.013479693369101016]},{"name":"camera_3","offset_m":[-0.01666712202511389,0.0012995770818482154,-0.01081087183712429]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015418015351672848,0.0008802031817484192,-0.001041577124109194],"end_effector_yaw_offset_degrees":-0.6666627402844334},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0013595694413749528,0.0016883892662915897,-0.0004581131771841953],"end_effector_yaw_offset_degrees":0.8590370174625539},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017523815355915792,-1.3763090920366258e-05,0.0003951448009443222],"end_effector_yaw_offset_degrees":0.8885938249152514},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00031416714241419,-0.0005502706622210988,-0.0010399129846285714],"end_effector_yaw_offset_degrees":-0.3450339080051408},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014178823518512526,0.0014405576044830798,0.0006213990939091902],"end_effector_yaw_offset_degrees":0.30954253633216644},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001173034681347215,0.001049680459912489,-0.0018474033358912298],"end_effector_yaw_offset_degrees":-0.6198724385762069}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002300296285314555,-0.0036613305433806065],"position_m":[0.13819970371468546,0.23103866945661938,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003981278699025282,0.0021095537787270595],"position_m":[0.20961872130097473,-0.051590446221272936,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002304474812942929,0.00011039369288424767],"position_m":[0.2514044748129429,-0.3832896063071158,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015748794272199308,0.003724123770885852],"position_m":[0.35517487942722,0.12092412377088585,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d016ef60503fa414e7c9688869722823f249d4d6d9aca182412ae9fdd81cdcbe","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8748/tex_ceiling_textures_292/tex_floor_textures_6966/tex_table_textures_5312/tex_wall_textures_2071","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7638683515239784129,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7638683515239784129,"visual_seed":7638683515239784129,"scene_id":"lab_003","finished_at":"2026-09-06T11:08:54"} +{"episode_id":"ep_000028","started_at":"2026-09-06T11:09:00","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_0","position":[0.6942836438620772,1.172052272268628,0.71338606911949],"aabb_xy":[[0.6855856815713619,1.1599272979611532],[0.7029816061527925,1.1841772465761027]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.36037781914769623,1.7025232182020642,0.71338606911949],"aabb_xy":[[-0.38287424058156033,1.6800232183953168],[-0.33788139771383213,1.7250232180088116]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.39185533478494955,1.4561136339026564,0.71338606911949],"aabb_xy":[[-0.40270694103382515,1.4452543431750053],[-0.38100372853607395,1.4669729246303074]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[0.390799179992219,0.2900795126609004,0.71338606911949],"aabb_xy":[[0.3828056901969371,0.28208138072042477],[0.39879266978750116,0.2980776446013761]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[-0.024510450084528457,-1.9817260185999332,0.71338606911949],"aabb_xy":[[-0.03711314922160491,-1.994321414824799],[-0.011907750947452,-1.969130622375068]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_5","position":[0.5291935295210339,0.39101030303780115,0.71338606911949],"aabb_xy":[[0.49541797033034096,0.37697180782463613],[0.5629690887117269,0.4050487982509662]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_6","position":[-0.11461218256001682,-1.8295884320990714,0.71338606911949],"aabb_xy":[[-0.20461217929562703,-1.882771895416366],[-0.024612185824406593,-1.776404968781777]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.5644135788192488,1.3948825942136875,0.71338606911949],"aabb_xy":[[0.5604997056238263,1.386133578807131],[0.5683274520146713,1.4036316096202446]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_8","position":[-0.478681494132458,1.097284599640434,0.71338606911949],"aabb_xy":[[-0.5686814927269279,1.0810340133270129],[-0.38868149553798803,1.113535185953855]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_9","position":[0.0867289326005658,-2.0206451462876154,0.71338606911949],"aabb_xy":[[0.04993429947565951,-2.0575510213841977],[0.12352356572547206,-1.983739271191033]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[0.013582747345533552,-1.6308743877303975,0.71338606911949],"aabb_xy":[[-0.0038479677334729563,-1.6481465023942479],[0.031013462424540058,-1.6136022730665462]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_11","position":[-0.30022564245490135,0.7540516377934496,0.71338606911949],"aabb_xy":[[-0.34147445348481603,0.6990516382812322],[-0.25897683142498656,0.8090516373056671]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_12","position":[0.6952458148099843,-0.8197394632590418,0.71338606911949],"aabb_xy":[[0.6882043638592367,-0.8267662149968362],[0.7022872657607319,-0.8127127115212471]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_13","position":[-0.3089892234136461,0.08579739098371908,0.71338606911949],"aabb_xy":[[-0.3446183793136059,0.05016472422686613],[-0.2733600675136864,0.12143005774057203]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_14","position":[-0.5564250302130165,-2.304869069599852,0.71338606911949],"aabb_xy":[[-0.5636687962592617,-2.3848690678034545],[-0.549181264166771,-2.22486907139625]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_15","position":[-0.591722129641365,1.4822194107716844,0.71338606911949],"aabb_xy":[[-0.5966781498262461,1.4597194105695626],[-0.5867661094564838,1.504719410973806]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[0.43073491609581827,-2.0035787100518485,0.71338606911949],"aabb_xy":[[0.40945690795234596,-2.068578712377921],[0.45201292423929046,-1.938578707725775]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[-0.6169567082231853,1.26596801882074,0.71338606911949],"aabb_xy":[[-0.6246598988972621,1.258258648122002],[-0.6092535175491082,1.2736773895194782]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_18","position":[-0.5181450642232316,-2.4609030818697133,0.71338606911949],"aabb_xy":[[-0.5244571637595701,-2.4666700211229324],[-0.5118329646868931,-2.455136142616495]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.6138143274155512,-0.3053570343711143,0.71338606911949],"aabb_xy":[[0.6030413534941834,-0.34035703259015326],[0.624587301336919,-0.2703570361520753]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.01992258674283587,-1.4887622940718575,0.71338606911949],"aabb_xy":[[-0.04183126888218691,-1.510662960891948],[0.001986095396515175,-1.4668616272517665]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_21","position":[0.20819847194632646,-1.2441382996444674,0.71338606911949],"aabb_xy":[[0.1581984709271912,-1.2806045153822956],[0.2581984729654617,-1.2076720839066397]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[0.535103592721043,-0.38125927965970785,0.71338606911949],"aabb_xy":[[0.5098827558612031,-0.40648303051259455],[0.5603244295808825,-0.35603552880682104]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_23","position":[0.5056845902063873,0.7637224617571876,0.71338606911949],"aabb_xy":[[0.4604059753252381,0.6997224624090038],[0.5509632050875366,0.8277224611053712]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_24","position":[-0.1736906023256557,-0.6506063616948945,0.71338606911949],"aabb_xy":[[-0.19189642598690337,-0.6616317622768862],[-0.15548477866440802,-0.639580961112903]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[0.24771917308572822,0.587763719468013,0.71338606911949],"aabb_xy":[[0.2118056686607385,0.5518502112512582],[0.28363267751071786,0.6236772276847675]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_26","position":[-0.33784407500752117,-1.2920263445635138,0.71338606911949],"aabb_xy":[[-0.35047086229471747,-1.3015724182650865],[-0.32521728772032477,-1.2824802708619407]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_27","position":[-0.415970486346634,-1.064685456365821,0.71338606911949],"aabb_xy":[[-0.4213080620126386,-1.089685457294961],[-0.41063291068062946,-1.0396854554366814]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_28","position":[0.23506561140034765,1.6119237748798274,0.71338606911949],"aabb_xy":[[0.187259443786579,1.5469237721727682],[0.2828717790141163,1.6769237775868862]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_29","position":[0.5927728105045593,-2.1198788467383816,0.71338606911949],"aabb_xy":[[0.557772811311741,-2.130845892736043],[0.6277728096973775,-2.108911800740718]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_30","position":[0.010819802582947569,-0.7340604289125772,0.71338606911949],"aabb_xy":[[-0.005242124875570075,-0.8190604307251688],[0.02688173004146521,-0.6490604270999851]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_31","position":[-0.6429596590921243,-2.5276254830388165,0.71338606911949],"aabb_xy":[[-0.6464003353321814,-2.5314869160131814],[-0.6395189828520671,-2.5237640500644525]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_32","position":[0.5926632046466069,0.270137645967234,0.71338606911949],"aabb_xy":[[0.5621789545195768,0.22013764618573806],[0.6231474547736371,0.32013764574872994]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_33","position":[0.5030544524112388,-0.7083578549862892,0.71338606911949],"aabb_xy":[[0.4981551601046752,-0.7360347742888579],[0.5079537447178022,-0.6806809356837203]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_34","position":[-0.2558758360344075,1.4033490995338402,0.71338606911949],"aabb_xy":[[-0.325875838165837,1.3805871339081441],[-0.1858758339029779,1.4261110651595355]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893517176819854,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9915.png","name":"9915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9915.png","name":"9915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8038.png","name":"8038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8825.png","name":"8825"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6888.png","name":"6888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4097.png","name":"4097"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":715.9775486865162,"rotation_z_degrees":304.3652499771556,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00791605046758078,-0.0021158709073901133,-0.01652684001554521]},{"name":"camera_2","offset_m":[0.013150609984882374,0.012045635377493934,-0.004195065011404719]},{"name":"camera_3","offset_m":[0.005678201324228135,-0.01323047225660302,0.0018523176506499116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017510932059064338,-0.0014162573132610263,-0.0016030975211440129],"end_effector_yaw_offset_degrees":0.07497010686874628},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0017627772535276217,0.0013173907116841876,-0.0003155471845420119],"end_effector_yaw_offset_degrees":0.7914761698669213},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014147334383322455,0.0007853706327907556,-0.0013503660111193266],"end_effector_yaw_offset_degrees":0.1095544822605321},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000433624284080311,0.0004542607711741477,0.0013046910654157147],"end_effector_yaw_offset_degrees":-0.7838271467189357},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00038422398549487055,0.0017312389182025023,0.0007963528982176619],"end_effector_yaw_offset_degrees":-0.33886429422449393},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011003427010479873,-0.00033290814799616527,-0.0017371337133127117],"end_effector_yaw_offset_degrees":0.2783609972068464}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0033428059528967805,0.002992167117273784],"position_m":[0.1438428059528968,0.23769216711727378,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023305816714617985,-0.0024550472931865455],"position_m":[0.2159305816714618,-0.056155047293186544,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029804790996177883,0.0033892815228777186],"position_m":[0.2520804790996178,-0.3800107184771223,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020402292023226198,-0.0027730942094613856],"position_m":[0.35564022920232263,0.11442690579053862,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"16a8142ae784dfe9c4cd00d0959bd291a8c7b0a082708118444feddf36650b5c","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0028.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9915/tex_ceiling_textures_4097/tex_floor_textures_6888/tex_table_textures_8038/tex_wall_textures_8825","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6348484770175825517,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6348484770175825517,"visual_seed":6348484770175825517,"scene_id":"lab_003","finished_at":"2026-09-06T11:15:04"} +{"episode_id":"ep_000029","started_at":"2026-09-06T11:15:12","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.5571087813010023,-2.411227695513223,0.71338606911949],"aabb_xy":[[0.467108777624084,-2.4726601020903263],[0.6471087849779203,-2.3497952889361176]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_1","position":[0.6857625591651269,1.4691644939733295,0.71338606911949],"aabb_xy":[[0.6619263415245219,1.379164493164843],[0.709598776805732,1.5591644947818162]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[0.5653239753388686,-1.9116951788367453,0.71338606911949],"aabb_xy":[[0.519238884084137,-1.9756951760893005],[0.6114090665936,-1.8476951815841902]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_3","position":[-0.43204382346497866,-1.9749554057237377,0.71338606911949],"aabb_xy":[[-0.4960438248729693,-2.0267443572476616],[-0.36804382205698793,-1.9231664541998126]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_4","position":[-0.6315309867981472,-1.271612389921993,0.71338606911949],"aabb_xy":[[-0.6815258197260889,-1.3216123888172366],[-0.5815361538702057,-1.2216123910267496]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_5","position":[0.47727794525743406,1.0222141234322981,0.71338606911949],"aabb_xy":[[0.4422779469873141,1.01513999573731],[0.512277943527554,1.0292882511272863]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.05714236962306729,-0.9818377000469636,0.71338606911949],"aabb_xy":[[-0.07029361559435665,-1.0068376998036503],[-0.04399112365177792,-0.9568377002902773]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_7","position":[0.36045271173945737,-1.4925841270480318,0.71338606911949],"aabb_xy":[[0.2964570143443608,-1.5565841253487405],[0.42444840913455395,-1.428584128747323]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_8","position":[-0.11340827208146997,1.0947874113150577,0.71338606911949],"aabb_xy":[[-0.13669011427960132,1.0097874100178295],[-0.09012642988333863,1.1797874126122856]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[-0.504664482110418,-0.2580791622861538,0.71338606911949],"aabb_xy":[[-0.5846644831835385,-0.26785720862353823],[-0.4246644810372978,-0.24830111594876936]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_10","position":[0.2254827943993033,-1.9449632718015497,0.71338606911949],"aabb_xy":[[0.1454827973850553,-1.965097823474961],[0.3054827914135513,-1.9248287201281384]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[0.521407380686262,0.16403527298374687,0.71338606911949],"aabb_xy":[[0.5039073804412125,0.14653548514417997],[0.5389073809313113,0.18153506082331367]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[-0.4923746960469261,-1.8272426760616747,0.71338606911949],"aabb_xy":[[-0.5563746977249235,-1.8757600675409887],[-0.4283746943689288,-1.7787252845823602]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.06543437349379899,-2.3417626362426,0.71338606911949],"aabb_xy":[[0.00043437345949626227,-2.3884633129229274],[0.13043437352810172,-2.2950619595622728]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_14","position":[-0.09933760804346603,-1.9681836498658307,0.71338606911949],"aabb_xy":[[-0.10704079871754307,-1.9758930205645688],[-0.09163441736938899,-1.9604742791670926]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_15","position":[0.06474599932732183,0.93738225237639,0.71338606911949],"aabb_xy":[[0.0007459989497882041,0.8876369855255776],[0.12874599970485545,0.9871275192272021]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_16","position":[0.2606466153524911,-0.775717115779121,0.71338606911949],"aabb_xy":[[0.2558030205912612,-0.7805687682581052],[0.26549021011372115,-0.7708654633001369]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_17","position":[-0.42914380459131335,1.4502429319759549,0.71338606911949],"aabb_xy":[[-0.46664380610694506,1.4390161589598098],[-0.39164380307568164,1.4614697049921]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[-0.5219562911041632,0.23066915968327395,0.71338606911949],"aabb_xy":[[-0.5859562933245702,0.18629607555798566],[-0.45795628888375617,0.27504224380856224]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.07870453118790832,-1.8318086657800579,0.71338606911949],"aabb_xy":[[-0.1387045314393095,-1.8860899908165223],[-0.018704530936507133,-1.777527340743593]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_20","position":[-0.608143167260205,-0.6025292105974358,0.71338606911949],"aabb_xy":[[-0.6326893828829556,-0.6327781071464729],[-0.5835969516374542,-0.5722803140483987]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6915289003889542,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5440.png","name":"5440"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5440.png","name":"5440"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4226.png","name":"4226"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1654.png","name":"1654"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8444.png","name":"8444"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3075.png","name":"3075"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":601.8715957519597,"rotation_z_degrees":165.4909415638178,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0028347794145903507,0.011725104051265135,0.005463106248653399]},{"name":"camera_2","offset_m":[0.01010639628514463,0.009220404431865958,0.011526020855717582]},{"name":"camera_3","offset_m":[-0.01443096051164178,-0.0010953031824284254,-0.003453151814768081]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004854477382250353,0.0017127682763600485,-0.0013580016032209373],"end_effector_yaw_offset_degrees":-0.3804854244700606},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014678049223698177,0.0018496117148152592,2.444363391325942e-05],"end_effector_yaw_offset_degrees":-0.3931645350285},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0002394812700347638,-0.001806104357168587,0.00020116582235887946],"end_effector_yaw_offset_degrees":-0.17470246876325257},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006872765636469387,-0.0017057739261984854,-0.0006557366388947718],"end_effector_yaw_offset_degrees":-0.930880976796761},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014888560251753312,0.0013717317208471443,-0.00045549572738947264],"end_effector_yaw_offset_degrees":-0.4246856527295697},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0014078227567417838,-0.0011088565836933353,0.001073527953127095],"end_effector_yaw_offset_degrees":0.8898158018194589}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001066369379647658,-0.00492996038012089],"position_m":[0.14156636937964767,0.2297700396198791,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035996858967842797,-0.00301383057219079],"position_m":[0.2171996858967843,-0.05671383057219079,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00456148507719436,0.001832920090995097],"position_m":[0.2536614850771943,-0.3815670799090049,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00393533046459942,-0.00204055636548368],"position_m":[0.35753533046459945,0.11515944363451631,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8da5023fc1fde31404c39d9dcae73903768565fa85d93f44c583899decd398c1","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5440/tex_ceiling_textures_3075/tex_floor_textures_8444/tex_table_textures_4226/tex_wall_textures_1654","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8088659220778006828,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8088659220778006828,"visual_seed":8088659220778006828,"scene_id":"lab_003","finished_at":"2026-09-06T11:21:12"} +{"episode_id":"ep_000030","started_at":"2026-09-06T11:21:18","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[0.5929990392850493,1.0345033175260658,0.71338606911949],"aabb_xy":[[0.5892957779559103,1.0308012992173479],[0.596702300614188,1.0382053358347834]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_1","position":[0.5134224106233252,-1.8864392454270984,0.71338606911949],"aabb_xy":[[0.4234224109001509,-1.9095125979622778],[0.6034224103464992,-1.8633658928919181]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[-0.2427721118576805,0.6514715173601564,0.71338606911949],"aabb_xy":[[-0.2765476710483735,0.6374330221469914],[-0.20899655266698755,0.6655100125733214]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.19193922782203154,-2.226532025138554,0.71338606911949],"aabb_xy":[[0.1576229506474136,-2.2765320251117314],[0.22625550499664948,-2.176532025165376]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_4","position":[-0.23901769418242313,-0.42851585186891894,0.71338606911949],"aabb_xy":[[-0.26153138600588033,-0.49851585246992647],[-0.2165040023589659,-0.3585158512679114]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_5","position":[0.6293340708809492,0.4299484362928445,0.71338606911949],"aabb_xy":[[0.5883161274945784,0.3799484356618872],[0.6703520142673202,0.47994843692380185]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_6","position":[0.3154319752357593,0.6478623331676006,0.71338606911949],"aabb_xy":[[0.22543197155884104,0.586429926590496],[0.40543197891267735,0.7092947397447047]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.32446738827767185,-1.7029987106375375,0.71338606911949],"aabb_xy":[[0.2344673888593009,-1.7363742074817272],[0.4144673876960427,-1.6696232137933478]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_8","position":[0.3850880004479893,1.5654982741010461,0.71338606911949],"aabb_xy":[[0.3500880021778694,1.558424146406058],[0.4200879987181092,1.5725724017960343]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[-0.6194344733700083,1.0073903923973568,0.71338606911949],"aabb_xy":[[-0.6529136406310494,0.9739112790262501],[-0.5859553061089675,1.040869505768464]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[0.012694677706840518,-1.893352238796055,0.71338606911949],"aabb_xy":[[0.001921703785472741,-1.9283522370150943],[0.023467651628208297,-1.8583522405770163]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.6686864896585951,-1.5837285552830316,0.71338606911949],"aabb_xy":[[0.6593928714214444,-1.6212285537711653],[0.6779801078957456,-1.5462285567948975]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_12","position":[0.04623709067898785,-1.5496186726699652,0.71338606911949],"aabb_xy":[[0.0333651871780477,-1.6296186730838012],[0.05910899417992798,-1.4696186722561289]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_13","position":[-0.07584059166525237,-0.8143709574835658,0.71338606911949],"aabb_xy":[[-0.13984058877735805,-0.8634033272779764],[-0.011840594553146677,-0.7653385876891552]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_14","position":[0.25491594049054966,1.7747868263594895,0.71338606911949],"aabb_xy":[[0.24699266025180133,1.752286826121486],[0.262839220729298,1.7972868265974926]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_15","position":[0.27105211686569397,1.6774039644297578,0.71338606911949],"aabb_xy":[[0.26301578216440913,1.6693658451253408],[0.2790884515669788,1.6854420837341744]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_16","position":[-0.4070788324426524,-0.47268078094820387,0.71338606911949],"aabb_xy":[[-0.4570781076110886,-0.522680782224151],[-0.35707955727421625,-0.42268077967225676]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_17","position":[0.25041731475496043,-1.0051386907927098,0.71338606911949],"aabb_xy":[[0.2129173161793396,-1.0178749864562677],[0.2879173133305812,-0.992402395129152]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_18","position":[-0.4361235273259757,-1.0881796152012502,0.71338606911949],"aabb_xy":[[-0.49112352694772154,-1.143163307988723],[-0.38112352770422986,-1.0331959224137774]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_19","position":[-0.2296492060181604,1.7265912419500595,0.71338606911949],"aabb_xy":[[-0.2896492062695616,1.6723099169135947],[-0.1696492057667592,1.780872566986524]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_20","position":[0.4283879214048898,-0.5865368867447889,0.71338606911949],"aabb_xy":[[0.37339471006775304,-0.6415368870835825],[0.4833811327420266,-0.5315368864059953]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_21","position":[-0.2751800224067843,-0.15179291305442577,0.71338606911949],"aabb_xy":[[-0.35518001981037767,-0.2317854842526086],[-0.19518002500319084,-0.07180034185624297]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[-0.16310399197857472,-1.4193750922285278,0.71338606911949],"aabb_xy":[[-0.1685619376155948,-1.4993750955361869],[-0.15764604634155466,-1.3393750889208687]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.49706009055986766,0.7123345054461421,0.71338606911949],"aabb_xy":[[0.4893568998857907,0.704625134747404],[0.5047632812339446,0.72004387614488]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_24","position":[0.46998538309655014,0.2029856596386006,0.71338606911949],"aabb_xy":[[0.4049853819906069,0.1780202865704723],[0.5349853842024934,0.2279510327067289]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[-0.4452758569072928,0.4870902205780947,0.71338606911949],"aabb_xy":[[-0.4677758574193334,0.4645983622126963],[-0.4227758563952522,0.509582078943493]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_26","position":[-0.3365717275330287,0.18438893570543557,0.71338606911949],"aabb_xy":[[-0.34742333378190426,0.17352964497778456],[-0.32572012128415306,0.1952482264330866]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_27","position":[0.29176380563337456,-2.171247997349447,0.71338606911949],"aabb_xy":[[0.2667638063614123,-2.187593360945609],[0.31676380490533684,-2.1549026337532844]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_28","position":[0.33568598122328863,-1.3328376813351261,0.71338606911949],"aabb_xy":[[0.3000568253233289,-1.3684703480919789],[0.3713151371232484,-1.297205014578273]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[-0.4679599592795236,-2.3624291708835004,0.71338606911949],"aabb_xy":[[-0.4979275161893493,-2.3924291711813868],[-0.43799240236969794,-2.332429170585615]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_30","position":[0.44718006449820114,1.4137390557924356,0.71338606911949],"aabb_xy":[[0.43016996720815054,1.397604567294162],[0.46419016178825184,1.4298735442907098]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937845688336286,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4277.png","name":"4277"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4277.png","name":"4277"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9030.png","name":"9030"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/589.png","name":"589"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6393.png","name":"6393"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7917.png","name":"7917"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":601.9891335642235,"rotation_z_degrees":67.43623411036671,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014280833261941673,0.008252257252704235,0.005529917978259958]},{"name":"camera_2","offset_m":[-0.002903991228490471,-0.012063908025385688,0.015582308452876618]},{"name":"camera_3","offset_m":[-0.007189007024425452,-0.013942389514298683,0.019436206101373223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002893693823985339,0.00021012295834227715,-0.0014050303399000498],"end_effector_yaw_offset_degrees":-0.7243639068586352},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00021428572625204053,-0.00036550160242013034,-0.0005030285506074047],"end_effector_yaw_offset_degrees":-0.1827984610240967},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018464613331027936,-0.001212771112633443,0.0003653586748074713],"end_effector_yaw_offset_degrees":-0.44085395818771533},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016629742249268564,0.0003203448124505983,0.0003103591525069915],"end_effector_yaw_offset_degrees":0.5948225671238196},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008591560092346669,-0.0011251827475149017,0.00038083755962209885],"end_effector_yaw_offset_degrees":0.5724015861945893},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001688640686408104,-0.0006669600956251678,-4.2948087728572355e-05],"end_effector_yaw_offset_degrees":-0.6916721605704084}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0032370899934552706,0.004097077619689061],"position_m":[0.14373708999345527,0.23879707761968905,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004666716202409809,0.0027220896093648004],"position_m":[0.2089332837975902,-0.0509779103906352,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032945277200548467,-0.004127960766101504],"position_m":[0.25239452772005483,-0.3875279607661015,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00490459899177586,0.0030078351203044447],"position_m":[0.3585045989917759,0.12020783512030445,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4cdf2040becb6f958ebf39fdc74fe8dc3055f35d3a5e0317b40ee828125b76b3","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0030.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4277/tex_ceiling_textures_7917/tex_floor_textures_6393/tex_table_textures_9030/tex_wall_textures_589","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7650823286835051837,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7650823286835051837,"visual_seed":7650823286835051837,"scene_id":"lab_003","finished_at":"2026-09-06T11:27:39"} +{"episode_id":"ep_000031","started_at":"2026-09-06T11:27:46","dimensions":{"distractor":{"count":21,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[0.2536833832100577,-2.180688288638319,0.71338606911949],"aabb_xy":[[0.16368337953313947,-2.2421206952154225],[0.3436833868869758,-2.1192558820612137]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.34012955919493676,0.5311740914550338,0.71338606911949],"aabb_xy":[[-0.3530014626958769,0.4511740910411976],[-0.3272576556939966,0.6111740918688698]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_2","position":[0.5740825379115682,-2.286959027973253,0.71338606911949],"aabb_xy":[[0.5240877049836266,-2.336959026868497],[0.6240773708395098,-2.23695902907801]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[-0.5008896043536846,-2.1731423192457684,0.71338606911949],"aabb_xy":[[-0.5358896026643799,-2.180857334169314],[-0.465889606042989,-2.1654273043222227]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.24269323787994895,-2.4043934365857673,0.71338606911949],"aabb_xy":[[-0.2801932393955806,-2.4156202096019124],[-0.20519323636431722,-2.3931666635696223]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_5","position":[-0.44544091670407415,0.7073892234351713,0.71338606911949],"aabb_xy":[[-0.5094409139897229,0.6658825044823273],[-0.38144091941842556,0.7488959423880153]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[0.23732555280001366,-1.6024283307000886,0.71338606911949],"aabb_xy":[[0.22041482036367183,-1.6159005362927028],[0.25423628523635533,-1.588956125107474]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[0.44673915645772744,0.18240801723943267,0.71338606911949],"aabb_xy":[[0.4142774555757999,0.15227518512453],[0.47920085733965484,0.21254084935433523]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[0.09859898009732115,0.9134075146739766,0.71338606911949],"aabb_xy":[[0.07359898054558267,0.9032650308088419],[0.12359897964905964,0.9235499985391113]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_9","position":[0.5481862806144133,0.740109333799714,0.71338606911949],"aabb_xy":[[0.5433426858531833,0.7352576813207301],[0.5530298753756433,0.7449609862786983]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_10","position":[-0.20781125652267757,-1.0165213843469938,0.71338606911949],"aabb_xy":[[-0.2280955592460763,-1.0368040094897024],[-0.18752695379927878,-0.9962387592042848]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[0.532800108793102,-1.7037685537100766,0.71338606911949],"aabb_xy":[[0.5151672731995744,-1.7213914997256996],[0.5504329443866296,-1.6861456076944537]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_12","position":[-0.584849407763155,-1.2878734630416986,0.71338606911949],"aabb_xy":[[-0.5936514630721276,-1.2956847891966274],[-0.5760473524541821,-1.2800621368867693]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_13","position":[-0.2306773559295831,1.7622605755169674,0.71338606911949],"aabb_xy":[[-0.24835298651818144,1.7445803592375646],[-0.21300172534098477,1.77994079179637]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[-0.1900683839061078,1.4512471077980709,0.71338606911949],"aabb_xy":[[-0.21791342068671493,1.4204626090597594],[-0.16222334712550068,1.4820316065363828]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.2141334537049846,-1.2292064096059983,0.71338606911949],"aabb_xy":[[0.20763181719697998,-1.238974231632308],[0.22063509021298922,-1.2194385875796885]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_16","position":[-0.3903001817166859,-0.635108975205994,0.71338606911949],"aabb_xy":[[-0.47030018218690184,-0.6434196828203423],[-0.3103001812464699,-0.6267982675916456]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_17","position":[0.653166210547655,-1.3998914461617689,0.71338606911949],"aabb_xy":[[0.6031662095285198,-1.4363576618995968],[0.7031662115667904,-1.363425230423941]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[0.4601170896990132,0.9430456512900642,0.71338606911949],"aabb_xy":[[0.4481843553371852,0.9306634984822048],[0.47204982406084134,0.9554278040979235]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_19","position":[-0.3216480814011058,-0.7899295451366499,0.71338606911949],"aabb_xy":[[-0.35623916425515095,-0.8549295454216809],[-0.2870569985470605,-0.7249295448516188]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_20","position":[-0.3113514864829791,0.8904749314002092,0.71338606911949],"aabb_xy":[[-0.37635148748347963,0.8396885662455342],[-0.2463514854824786,0.9412612965548841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6914018418188296,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9350.png","name":"9350"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2782.png","name":"2782"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7947.png","name":"7947"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4026.png","name":"4026"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3885.png","name":"3885"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":743.1140158641573,"rotation_z_degrees":162.2788373914589,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00952386732771473,0.007636369912497446,-0.019522831548132332]},{"name":"camera_2","offset_m":[0.017724603745488062,-0.019694048398097068,-0.018633394513126414]},{"name":"camera_3","offset_m":[-0.0037877627940820294,-0.010311442413680783,0.004541902056675637]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00015613282362263235,0.0017956464479597337,0.0018324249285097487],"end_effector_yaw_offset_degrees":0.14592900735956382},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001200421774209186,0.000774058921417999,0.0015380533319565557],"end_effector_yaw_offset_degrees":0.11818196783604984},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005978603227490948,0.00046696963669490407,-0.001692339517397893],"end_effector_yaw_offset_degrees":0.3730096858277696},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004467955049167571,-0.0008757500515864578,-0.0005252443410452053],"end_effector_yaw_offset_degrees":0.4950892979432111},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011797798469777533,-0.0017748592233421264,0.0015042932923368738],"end_effector_yaw_offset_degrees":0.12029356580470418},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002991419569267654,7.815382226168677e-06,0.00012846006763503424],"end_effector_yaw_offset_degrees":0.40212243921939805}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018566576257669073,-0.0039512526772667225],"position_m":[0.1423566576257669,0.23074874732273326,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0040733825676865214,-0.0024318340601548805],"position_m":[0.2095266174323135,-0.05613183406015488,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006545448204430017,-0.0037806283988433766],"position_m":[0.249754544820443,-0.3871806283988434,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0020170037585262525,0.0035932385115905697],"position_m":[0.35158299624147377,0.12079323851159057,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"951bba1f6861b08ae5e56a6683738708be01e9355adb0cf2df8aacf3f7ce805e","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9350/tex_ceiling_textures_3885/tex_floor_textures_4026/tex_table_textures_2782/tex_wall_textures_7947","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5569326716791426293,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5569326716791426293,"visual_seed":5569326716791426293,"scene_id":"lab_003","finished_at":"2026-09-06T11:33:44"} +{"episode_id":"ep_000032","started_at":"2026-09-06T11:33:49","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[-0.17960741187161466,-1.9637323233888921,0.71338606911949],"aabb_xy":[[-0.24360740826718771,-2.0276956118076255],[-0.11560741547604156,-1.8997690349701586]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_1","position":[-0.2848620799026747,0.29991124034245464,0.71338606911949],"aabb_xy":[[-0.29357604895260914,0.2774112396832663],[-0.27614811085274016,0.32241124100164276]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.17899780015756095,-2.158814535523288,0.71338606911949],"aabb_xy":[[-0.2589977973171362,-2.1703621364811045],[-0.0989978029979856,-2.1472669345654705]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_3","position":[-0.33475338738967864,0.05186278662355459,0.71338606911949],"aabb_xy":[[-0.34274737596738203,0.04386270652846424],[-0.32675939881197524,0.05986286671864493]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[0.0886779708370713,1.590976181407409,0.71338606911949],"aabb_xy":[[0.06002863847665506,1.5623306221303328],[0.1173273031974875,1.6196217406844844]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.438015029029732,1.2958769958867955,0.71338606911949],"aabb_xy":[[0.4330590088448509,1.2733769956846739],[0.4429710492146132,1.3183769960889171]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_6","position":[-0.5690546776168657,-0.05354033265840963,0.71338606911949],"aabb_xy":[[-0.5846104470271309,-0.06909076590281682],[-0.5534989082066004,-0.03798989941400244]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.5556635954255144,-1.083724105471795,0.71338606911949],"aabb_xy":[[-0.5629073614717597,-1.1637241036753974],[-0.548419829379269,-1.0037241072681926]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_8","position":[-0.3716251108676148,-1.852150304491215,0.71338606911949],"aabb_xy":[[-0.38863520815766534,-1.868284792989489],[-0.35461501357756403,-1.8360158159929412]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_9","position":[0.09758271636521854,-1.7357845340419045,0.71338606911949],"aabb_xy":[[0.03758271550440572,-1.7872109640483904],[0.15758271722603132,-1.6843581040354176]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[0.24117080552227554,1.2886801737053735,0.71338606911949],"aabb_xy":[[0.2186571136988183,1.2186801731043657],[0.2636844973457327,1.3586801743063808]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_11","position":[-0.10863634575908909,0.6896659847820845,0.71338606911949],"aabb_xy":[[-0.11904790443957279,0.6843202514461859],[-0.09822478707860537,0.6950117181179829]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_12","position":[-0.45658940903557876,0.1938630588043373,0.71338606911949],"aabb_xy":[[-0.494089409532937,0.18989437525621888],[-0.4190894085382205,0.1978317423524557]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_13","position":[0.21709952543107736,-2.04699115460254,0.71338606911949],"aabb_xy":[[0.19923041767662183,-2.060824062579751],[0.23496863318553282,-2.033158246625329]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_14","position":[-0.06250179656023225,1.0049719545690543,0.71338606911949],"aabb_xy":[[-0.09750179791171397,0.9846122186122336],[-0.02750179520875051,1.0253316905258751]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_15","position":[-0.5202946364193336,-2.1863946629340685,0.71338606911949],"aabb_xy":[[-0.5369717724124291,-2.2030945869079988],[-0.5036175004262381,-2.169694738960138]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_16","position":[0.4473050502447309,-0.6219040731450471,0.71338606911949],"aabb_xy":[[0.38330935284963424,-0.6859040714457556],[0.5113007476398275,-0.5579040748443382]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_17","position":[-0.3065907155778786,-1.8496357525651126,0.71338606911949],"aabb_xy":[[-0.31122583073011195,-1.8535030876422611],[-0.3019556004256451,-1.8457684174879636]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.36797784264121136,0.916800835618663,0.71338606911949],"aabb_xy":[[-0.44797784480397385,0.8368456519925194],[-0.2879778404784489,0.9967560192448066]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_19","position":[-0.23901042742807888,-2.336803828111693,0.71338606911949],"aabb_xy":[[-0.2890104270044136,-2.386784407063799],[-0.18901042785174418,-2.2868232491595872]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_20","position":[0.05462586919327206,1.2340709816015312,0.71338606911949],"aabb_xy":[[0.0006102729113720493,1.170070978709274],[0.10864146547517206,1.2980709844937883]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.44745283499814126,-2.3058562833161447,0.71338606911949],"aabb_xy":[[0.3834528347376704,-2.3508650826690722],[0.511452835258612,-2.260847483963216]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.38199006025280524,-0.7087159866597923,0.71338606911949],"aabb_xy":[[-0.40699005941843835,-0.7156682323651489],[-0.35699006108717213,-0.7017637409544357]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6913213219437988,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/999.png","name":"999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/999.png","name":"999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2633.png","name":"2633"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5612.png","name":"5612"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8873.png","name":"8873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3897.png","name":"3897"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":840.2243121884846,"rotation_z_degrees":152.65637062109357,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0005487441534298247,-0.015889610759522933,-0.014135404602065575]},{"name":"camera_2","offset_m":[-0.010128990630924211,0.01772951829971232,0.0002713062815442764]},{"name":"camera_3","offset_m":[0.015370857598098097,0.01893447641686131,-0.0010565239990848359]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[2.2857309284168414e-05,0.0002542855220224673,0.0015762019038418561],"end_effector_yaw_offset_degrees":-0.8421609121664637},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001772472125975878,-0.0009532167793308353,-0.0014173828893007624],"end_effector_yaw_offset_degrees":0.4075884944764405},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003231390698875264,-0.0017743611224414018,-0.0014106440104879377],"end_effector_yaw_offset_degrees":0.2649590172292047},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008706219347812687,0.0016943858174081855,0.0019190554973703552],"end_effector_yaw_offset_degrees":-0.041140562417631754},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016991399420483839,0.001860701718991004,-0.0019835393579890207],"end_effector_yaw_offset_degrees":0.029963076497148355},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005228237664209492,-0.0001794195520518889,-0.00190104921664845],"end_effector_yaw_offset_degrees":-0.9529568212630786}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004271617012991409,-6.817891669735551e-06],"position_m":[0.1362283829870086,0.23469318210833026,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002268322323607121,0.002941100155566271],"position_m":[0.21586832232360714,-0.05075889984443373,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004675107236131004,0.002381201861003747],"position_m":[0.253775107236131,-0.38101879813899625,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004946905203767442,0.0008869679272167129],"position_m":[0.3486530947962326,0.11808696792721671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f2e67f465838c546bf0f910c8c6d3ad46b9759288412f1448eb46a61fb42a9a8","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0032.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_999/tex_ceiling_textures_3897/tex_floor_textures_8873/tex_table_textures_2633/tex_wall_textures_5612","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6903420866167258231,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6903420866167258231,"visual_seed":6903420866167258231,"scene_id":"lab_003","finished_at":"2026-09-06T11:39:52"} +{"episode_id":"ep_000033","started_at":"2026-09-06T11:39:57","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_0","position":[-0.6387687426003443,1.036721675757505,0.71338606911949],"aabb_xy":[[-0.6562687428453936,1.019221887917938],[-0.6212687423552948,1.0542214635970717]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_1","position":[0.4378240517199068,1.2417096149111635,0.71338606911949],"aabb_xy":[[0.3925454368387576,1.17770961556298],[0.4831026666010561,1.3057096142593474]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_2","position":[0.20681537498058922,1.0507025077760548,0.71338606911949],"aabb_xy":[[0.14681537472918801,0.9964211827395901],[0.2668153752319904,1.1049838328125194]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_3","position":[0.6521661985537663,-1.9706957437773096,0.71338606911949],"aabb_xy":[[0.6050368195519306,-2.0346957448217116],[0.6992955775556019,-1.9066957427329077]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_4","position":[0.528057736028477,1.6280615301615886,0.71338606911949],"aabb_xy":[[0.46405773397874506,1.5879670470722806],[0.592057738078209,1.6681560132508966]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_5","position":[-0.6203571793235865,-2.0058890350070624,0.71338606911949],"aabb_xy":[[-0.6242710525190089,-2.014638050413619],[-0.616443306128164,-1.9971400196005056]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_6","position":[-0.23590891295148603,-1.0704031682482122,0.71338606911949],"aabb_xy":[[-0.25840891276538847,-1.074877784618693],[-0.21340891313758367,-1.0659285518777315]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[0.2534750846984467,-1.5094113529624356,0.71338606911949],"aabb_xy":[[0.21597508351365388,-1.5138295756584959],[0.29097508588323945,-1.5049931302663748]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.21789810693778222,-0.9188987455957982,0.71338606911949],"aabb_xy":[[0.18543640605585474,-0.9490315777107006],[0.2503598078197096,-0.8887659134808954]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_9","position":[0.24569006742270516,1.30717361191462,0.71338606911949],"aabb_xy":[[0.2305178981410718,1.2920047549864166],[0.2608622367043385,1.3223424688428234]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_10","position":[0.03953566053066304,-2.528686896614932,0.71338606911949],"aabb_xy":[[0.01703566052051475,-2.542783116254535],[0.06203566054081133,-2.5145906769753283]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[0.06934806894686496,0.8129888177789768,0.71338606911949],"aabb_xy":[[0.052337971656814294,0.7968543292807029],[0.0863581662369156,0.8291233062772507]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[-0.4622366650410061,-2.2290266314538827,0.71338606911949],"aabb_xy":[[-0.526236668259644,-2.275749743352891],[-0.3982366618223682,-2.1823035195548743]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_13","position":[-0.5763682273520525,1.38618668781884,0.71338606911949],"aabb_xy":[[-0.598868227864093,1.3636948294534417],[-0.5538682268400118,1.4086785461842384]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[-0.06952670752421763,1.0604352729882658,0.71338606911949],"aabb_xy":[[-0.10702670734125118,1.055797061677124],[-0.03202670770718406,1.0650734842994076]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_15","position":[0.3300566330522927,0.8952767521902532,0.71338606911949],"aabb_xy":[[0.32063915848242985,0.8858605750525341],[0.33947410762215535,0.9046929293279722]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.04011300792909034,-2.380489793028307,0.71338606911949],"aabb_xy":[[-0.05096461417796593,-2.3913490837559572],[-0.02926140168021473,-2.3696305023006556]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_17","position":[0.3783351498526917,0.7965327778723266,0.71338606911949],"aabb_xy":[[0.35049011307208455,0.7657482791340148],[0.4061801866332988,0.8273172766106381]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[0.5114936018792884,-1.9701454817735486,0.71338606911949],"aabb_xy":[[0.4889944661530614,-1.9926454825518116],[0.5339927376055154,-1.9476454809952857]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[0.2538297999960222,-1.7459523227066023,0.71338606911949],"aabb_xy":[[0.21951352282140424,-1.79595232267978],[0.2881460771706401,-1.6959523227334246]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.36944742945036513,-1.0107590305418401,0.71338606911949],"aabb_xy":[[0.34653171656531523,-1.0336633276782636],[0.3923631423354151,-0.9878547334054166]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[-0.3955748280228053,0.7340915739444545,0.71338606911949],"aabb_xy":[[-0.40428879707273974,0.711591573285266],[-0.38686085897287076,0.7565915746036425]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[0.6544606750092776,-1.3051421617816803,0.71338606911949],"aabb_xy":[[0.6134427316229067,-1.3551421624126376],[0.6954786183956485,-1.255142161150723]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[-0.542754107623656,0.11220819427099427,0.71338606911949],"aabb_xy":[[-0.6077541087295992,0.08724282120286597],[-0.47775410651771266,0.13717356733912256]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.03818358153488732,-0.9002073123303338,0.71338606911949],"aabb_xy":[[-0.11818358479890045,-0.9137673446392471],[0.04181642172912581,-0.8866472800214205]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_25","position":[-0.49555397245055605,1.374491663578819,0.71338606911949],"aabb_xy":[[-0.5016486003386744,1.3659222690271502],[-0.4894593445624377,1.3830610581304876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943958250000927,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7708.png","name":"7708"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6478.png","name":"6478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5413.png","name":"5413"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":767.7636811799468,"rotation_z_degrees":307.33919634614784,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01733667762939819,0.019601079460015578,0.00855446701796184]},{"name":"camera_2","offset_m":[0.019584616277542603,0.013828319765200204,-0.016555688897717094]},{"name":"camera_3","offset_m":[0.0043049081880197106,0.017223131989723275,0.007215778803223844]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008675244208027589,-0.001365108424385713,-0.0017173053866104074],"end_effector_yaw_offset_degrees":0.5817970674485478},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0008203528209261984,0.0010484230114885923,0.0005523084104700742],"end_effector_yaw_offset_degrees":-0.873454791361179},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015328439716068534,0.0005621563284965922,0.0013417828454773554],"end_effector_yaw_offset_degrees":-0.1769508148271708},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013135767228424364,-0.00029186779689979086,0.0009665183460514726],"end_effector_yaw_offset_degrees":-0.5771109651258985},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017351874700474949,-2.829379758811706e-05,0.001106927652333212],"end_effector_yaw_offset_degrees":0.46364383297530387},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.306819615701375e-05,-0.000189975613720454,-0.0012559683578673053],"end_effector_yaw_offset_degrees":-0.09245367196270426}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038246002053491804,-0.0036104588535635987],"position_m":[0.1443246002053492,0.2310895411464364,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004014799308898124,0.002772538153998556],"position_m":[0.21761479930889813,-0.05092746184600144,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004606040949774606,-0.0032720876264326695],"position_m":[0.2537060409497746,-0.3866720876264327,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004779750548599193,-0.0031969224798641094],"position_m":[0.34882024945140083,0.11400307752013589,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8106cfb8c21c49c1becaa30c49bee8a5fd787ac8ab8ea7a3daa0dc6959f63d68","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_7708/tex_ceiling_textures_5413/tex_floor_textures_6553/tex_table_textures_6734/tex_wall_textures_6478","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6697087129102457311,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6697087129102457311,"visual_seed":6697087129102457311,"scene_id":"lab_003","finished_at":"2026-09-06T11:45:50"} +{"episode_id":"ep_000034","started_at":"2026-09-06T11:45:56","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[0.18244735269622236,-1.132488469888214,0.71338606911949],"aabb_xy":[[0.15995093126235826,-1.1549884696949615],[0.20494377413008646,-1.1099884700814666]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.40518959466896143,1.206084029433487,0.71338606911949],"aabb_xy":[[0.37072724727081957,1.1715901470356636],[0.4396519420671032,1.240577911831309]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_2","position":[-0.39045626735847744,1.515721952771655,0.71338606911949],"aabb_xy":[[-0.4204238242683031,1.4857219524737693],[-0.3604887104486518,1.5457219530695407]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_3","position":[-0.35517194753949166,0.5001744984461189,0.71338606911949],"aabb_xy":[[-0.37267194778454105,0.48267471060655204],[-0.3376719472944423,0.5176742862856857]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_4","position":[0.14124627544718382,1.729708459929086,0.71338606911949],"aabb_xy":[[0.0772462761530156,1.6657223195602318],[0.20524627474135204,1.7936946002979401]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_5","position":[-0.45142562357891214,1.1201897001657426,0.71338606911949],"aabb_xy":[[-0.48490479083995314,1.0867105867946356],[-0.41794645631787125,1.1536688135368496]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_6","position":[0.19272803315466602,-0.7569679010513441,0.71338606911949],"aabb_xy":[[0.17985612965372585,-0.8369679014651803],[0.20559993665560614,-0.676967900637508]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.536004909401709,1.7002018967237311,0.71338606911949],"aabb_xy":[[-0.6256919857098244,1.6102018964692804],[-0.4463178330935935,1.7902018969781814]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.2712454793420557,-2.4182755673314507,0.71338606911949],"aabb_xy":[[0.2624434240330829,-2.4260868934863793],[0.28004753465102833,-2.410464241176521]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_9","position":[0.6056903739041142,-0.8791231294228361,0.71338606911949],"aabb_xy":[[0.5706903740080954,-0.887497364934776],[0.6406903738001332,-0.8707488939108962]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_10","position":[-0.6018006918615627,1.15016954895205,0.71338606911949],"aabb_xy":[[-0.639300691805329,1.1418764589172135],[-0.5643006919177962,1.1584626389868866]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_11","position":[0.5407996418473515,0.10793517171660172,0.71338606911949],"aabb_xy":[[0.49562832399918255,0.0439351745720633],[0.5859709596955205,0.17193516886114013]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_12","position":[-0.0687737762967835,-1.7676908215662968,0.71338606911949],"aabb_xy":[[-0.08387607775780155,-1.7827923431973582],[-0.05367147483576536,-1.7525892999352344]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_13","position":[-0.35936354658785996,-1.3549944211063996,0.71338606911949],"aabb_xy":[[-0.38186354640176234,-1.3594690374768803],[-0.3368635467739576,-1.3505198047359188]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[0.5493573998878161,0.7183158962141367,0.71338606911949],"aabb_xy":[[0.5445138051265861,0.7134642437351526],[0.554200994649046,0.7231675486931208]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.3063154130538015,-2.536918210650061,0.71338606911949],"aabb_xy":[[0.30022078516568323,-2.5454876052017297],[0.3124100409419199,-2.5283488160983922]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_16","position":[-0.22186612108194897,1.7679225481261933,0.71338606911949],"aabb_xy":[[-0.22650123623418233,1.7640552130490446],[-0.21723100592971556,1.771789883203342]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_17","position":[-0.6398470067770925,-1.137665414667782,0.71338606911949],"aabb_xy":[[-0.6468884577278402,-1.1446921664055765],[-0.632805555826345,-1.1306386629299876]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_18","position":[-0.6544519837211547,-0.19272206554904248,0.71338606911949],"aabb_xy":[[-0.6653035899700303,-0.20358135627669346],[-0.643600377472279,-0.18186277482139143]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_19","position":[-0.11581632134994546,-0.6493860211652682,0.71338606911949],"aabb_xy":[[-0.1533163215218174,-0.6820867565481753],[-0.07831632117807351,-0.6166852857823609]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[-0.24026927549764304,-2.5148145093549648,0.71338606911949],"aabb_xy":[[-0.30426927690563366,-2.5666034608788895],[-0.17626927408965234,-2.46302555783104]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.4919289841056058,-0.33204832166594533,0.71338606911949],"aabb_xy":[[0.426928985548533,-0.36180085507982795],[0.5569289826626787,-0.3022957882520627]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_22","position":[0.6454452330583733,0.5605696896469183,0.71338606911949],"aabb_xy":[[0.5814495356632767,0.49656969134620976],[0.7094409304534699,0.6245696879476271]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_23","position":[0.30432211511478635,-0.5087937226475381,0.71338606911949],"aabb_xy":[[0.2866892795212588,-0.526416668663161],[0.3219549507083139,-0.49117077663191505]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.13930589788012004,0.525836686044296,0.71338606911949],"aabb_xy":[[-0.2033058995581174,0.4773192945649817],[-0.07530589620212269,0.5743540775236101]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866018733970755,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6870.png","name":"6870"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6870.png","name":"6870"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9117.png","name":"9117"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1619.png","name":"1619"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7538.png","name":"7538"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/314.png","name":"314"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":515.5080808869533,"rotation_z_degrees":37.00060907627616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018543758552820245,0.012921348341460418,0.015430948834619648]},{"name":"camera_2","offset_m":[0.010668044303845273,0.015328368631641002,-0.018857209286353788]},{"name":"camera_3","offset_m":[0.00266802360717458,0.004627269043560776,-0.013460839392770162]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000777180245480634,0.00018784818636362463,-8.963895736383617e-05],"end_effector_yaw_offset_degrees":0.6457565344275902},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001566485951572974,0.0004065477646368826,0.0013941859894955537],"end_effector_yaw_offset_degrees":-0.5204172978988943},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00022414544043175078,-0.0011022926671206816,-0.001941619895419171],"end_effector_yaw_offset_degrees":-0.24387547800470433},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001688047254348687,0.0004647729808922442,-0.0007012115827100605],"end_effector_yaw_offset_degrees":-0.7713174818954782},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010982618035152631,-0.000977548567199582,-0.0004568398177961931],"end_effector_yaw_offset_degrees":-0.7816835872949113},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019275491618740842,0.0015894810582845818,-0.001167075374764282],"end_effector_yaw_offset_degrees":-0.057356711420900375}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004942144055362893,-0.0004041790803645494],"position_m":[0.13555785594463712,0.23429582091963544,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002763847545857556,-0.0010918210761219835],"position_m":[0.21636384754585758,-0.05479182107612198,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001267940697496357,0.001964119387851345],"position_m":[0.24783205930250363,-0.38143588061214867,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0024795186910090113,4.791169008244549e-06],"position_m":[0.356079518691009,0.11720479116900824,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0d2ab96bed17dfb6340ab69c53ae1f42e7c64f7e052a89543c0b2b701c6a0b7a","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0034.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_6870/tex_ceiling_textures_314/tex_floor_textures_7538/tex_table_textures_9117/tex_wall_textures_1619","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2924794713296998534,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2924794713296998534,"visual_seed":2924794713296998534,"scene_id":"lab_003","finished_at":"2026-09-06T11:52:04"} +{"episode_id":"ep_000035","started_at":"2026-09-06T11:52:11","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.48184399650011944,-1.9632788431282375,0.71338606911949],"aabb_xy":[[-0.485959946612192,-1.9673943981610829],[-0.47772804638804667,-1.9591632880953918]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_1","position":[0.6464973352302732,0.8947494551210853,0.71338606911949],"aabb_xy":[[0.6289506403141543,0.857249453556834],[0.6640440301463921,0.9322494566853365]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_2","position":[0.5232463089418531,1.8007075513416706,0.71338606911949],"aabb_xy":[[0.512678829283754,1.790162521228662],[0.533813788599952,1.8112525814546792]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[-0.2358146327974217,-1.4755808832993058,0.71338606911949],"aabb_xy":[[-0.27331463308959647,-1.4796223586999093],[-0.19831463250524686,-1.4715394078987023]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[0.1824349821895529,-0.8508680624823675,0.71338606911949],"aabb_xy":[[0.10243497893170991,-0.9308645702743514],[0.26243498544739585,-0.7708715546903835]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.6684345158809338,-0.1498664956960183,0.71338606911949],"aabb_xy":[[-0.6853452483172755,-0.16333870128863281],[-0.6515237834445919,-0.13639429010340376]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[0.35612827981037065,1.079937382126821,0.71338606911949],"aabb_xy":[[0.31004318855563917,1.0159373848742657],[0.40221337106510213,1.143937379379376]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_7","position":[0.434588677235316,-2.3634450217262444,0.71338606911949],"aabb_xy":[[0.3846156117028006,-2.4134450215387777],[0.48456174276783154,-2.313445021913712]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.14846775790882993,-2.1858993293403937,0.71338606911949],"aabb_xy":[[0.13083492231530236,-2.203522275356016],[0.1661005935023575,-2.1682763833247702]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_9","position":[-0.038148547430469915,-2.5603065133765908,0.71338606911949],"aabb_xy":[[-0.0560176551849254,-2.574139421353802],[-0.020279439676014414,-2.5464736053993797]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.27777239567133083,1.6628042669193408,0.71338606911949],"aabb_xy":[[-0.32776550778052277,1.6128042662451454],[-0.227779283562139,1.7128042675935367]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_11","position":[-0.2313351654879925,-2.2459184674940205,0.71338606911949],"aabb_xy":[[-0.24290414623492904,-2.2709184676109526],[-0.2197661847410559,-2.220918467377089]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.42886938638714034,0.48351285458657367,0.71338606911949],"aabb_xy":[[-0.43862537589631423,0.4737503205273391],[-0.41911339687796645,0.493275388645808]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[-0.538092845902994,0.7034425069030488,0.71338606911949],"aabb_xy":[[-0.5880878568624461,0.6534425078674571],[-0.4880978349435421,0.7534425059386406]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.0713103356367456,1.3484277299681673,0.71338606911949],"aabb_xy":[[0.0666752204845122,1.3445603948910185],[0.07594545078897898,1.352295065045316]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_15","position":[-0.39437636417981053,-1.658866361491716,0.71338606911949],"aabb_xy":[[-0.4289674470338557,-1.723866361776747],[-0.35978528132576526,-1.5938663612066848]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[0.629402893798205,0.7721052473030028,0.71338606911949],"aabb_xy":[[0.5944028938217092,0.7626406312553861],[0.6644028937747009,0.7815698633506193]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[0.28068700308552086,-1.3769291257151828,0.71338606911949],"aabb_xy":[[0.2431870032684873,-1.3815673370263246],[0.3181870029025544,-1.372290914404041]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_18","position":[-0.01211493487006654,-1.5135947204548101,0.71338606911949],"aabb_xy":[[-0.0496149352182943,-1.5253861160358937],[0.025385065478161217,-1.5018033248737266]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_19","position":[-0.07348881743891233,0.7259912494766181,0.71338606911949],"aabb_xy":[[-0.07756697534596207,0.7219102692283548],[-0.0694106595318626,0.7300722297248814]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.19856336668862784,-2.341261737716641,0.71338606911949],"aabb_xy":[[0.17606694525476377,-2.3637617375233884],[0.22105978812249197,-2.3187617379098935]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_21","position":[-0.46517527537752645,-1.4077174234962544,0.71338606911949],"aabb_xy":[[-0.4821853726675771,-1.4238519119945283],[-0.4481651780874758,-1.3915829349979805]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_22","position":[0.13351635394928185,1.511964312408122,0.71338606911949],"aabb_xy":[[0.09851635259780013,1.4916045764513008],[0.1685163553007636,1.5323240483649425]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_23","position":[-0.6085479047858827,-1.757014850422514,0.71338606911949],"aabb_xy":[[-0.6935479034779574,-1.7890007138173927],[-0.5235479060938081,-1.725028987027635]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[0.12206838731211,0.7049699870260033,0.71338606911949],"aabb_xy":[[0.03206838871764006,0.6887194007125824],[0.21206838590657995,0.7212205733394245]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_25","position":[-0.2509041068371278,-1.2430548402392985,0.71338606911949],"aabb_xy":[[-0.3109041076979406,-1.2944812702457846],[-0.190904105976315,-1.1916284102328119]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_26","position":[-0.08309003887623068,-1.192974730408843,0.71338606911949],"aabb_xy":[[-0.14709003957970004,-1.2389931128817642],[-0.01909003817276134,-1.1469563479359222]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_27","position":[-0.2806041090107754,-1.9917924019543618,0.71338606911949],"aabb_xy":[[-0.33823457789804623,-2.0517924008810717],[-0.2229736401235045,-1.9317924030276508]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_28","position":[0.671594619575943,1.811253865854623,0.71338606911949],"aabb_xy":[[0.6643333720055355,1.7984668555911134],[0.6788558671463505,1.8240408761181324]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_29","position":[0.5719645907364519,0.08893490870033238,0.71338606911949],"aabb_xy":[[0.5643403226462738,0.08130168516378866],[0.5795888588266302,0.09656813223687612]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_30","position":[-0.5804573383769801,1.0219492979250808,0.71338606911949],"aabb_xy":[[-0.5884936730782648,1.0139111786206638],[-0.5724210036756952,1.0299874172294974]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_31","position":[0.5653689117349086,-0.7310619123690889,0.71338606911949],"aabb_xy":[[0.4816466862348261,-0.8210619159037849],[0.649091137234991,-0.641061908834393]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_32","position":[-0.007734141299175268,1.043586089354887,0.71338606911949],"aabb_xy":[[-0.029012149442647517,0.9785860870288139],[0.013543866844296981,1.10858609168096]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_33","position":[0.5955921296446689,1.2820511932102008,0.71338606911949],"aabb_xy":[[0.5454946656635953,1.2180511927003892],[0.6456895936257425,1.3460511937200128]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_34","position":[-0.6258372196343027,0.8626215293238539,0.71338606911949],"aabb_xy":[[-0.6808304309714395,0.8076215289850605],[-0.570844008297166,0.9176215296626477]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893747987408271,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3250.png","name":"3250"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3250.png","name":"3250"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7192.png","name":"7192"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4244.png","name":"4244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6524.png","name":"6524"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9239.png","name":"9239"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":721.3696374924132,"rotation_z_degrees":39.190801221977914,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019742034691212395,0.011677254575574145,0.007962005023179414]},{"name":"camera_2","offset_m":[0.0005562641709028517,0.016201063733443755,0.01673176319162616]},{"name":"camera_3","offset_m":[-0.018758274286098456,-0.013676812100035348,0.004088921353785059]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007502881574754908,-0.0006307456268546546,-0.0001750654190855619],"end_effector_yaw_offset_degrees":-0.7051699591810228},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0006672712155344714,-0.0010254371767728547,0.0013152822383883482],"end_effector_yaw_offset_degrees":-0.4843400333117578},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00041717761522381647,0.0017688318644803378,0.0016764185184826143],"end_effector_yaw_offset_degrees":0.9565735101318023},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001755096360240833,0.0011563476214241386,-0.0008993151482214205],"end_effector_yaw_offset_degrees":-0.5882798953229025},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015564715666763684,-0.001437358591844652,0.0016194318153430294],"end_effector_yaw_offset_degrees":0.04860415540717922},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009585490662470889,0.0011433739348198435,0.0005901889016355134],"end_effector_yaw_offset_degrees":-0.9291954763086572}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004154143861333133,0.0027435249204477838],"position_m":[0.13634585613866687,0.23744352492044776,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009727982795760736,0.000491763543380915],"position_m":[0.2145727982795761,-0.05320823645661908,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021581804325449074,-0.004316894722848833],"position_m":[0.2469418195674551,-0.38771689472284887,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003459290542618511,-0.0037278452004065763],"position_m":[0.3532540709457382,0.11347215479959342,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d2199ea2d58f6084617f2884f0afdce634139da5bd5ae0d90ea40f5a70e3308","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0035.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_3250/tex_ceiling_textures_9239/tex_floor_textures_6524/tex_table_textures_7192/tex_wall_textures_4244","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3619378064244465840,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3619378064244465840,"visual_seed":3619378064244465840,"scene_id":"lab_003","finished_at":"2026-09-06T11:58:01"} +{"episode_id":"ep_000036","started_at":"2026-09-06T11:58:07","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_0","position":[0.542843245469194,-0.5130551836235537,0.71338606911949],"aabb_xy":[[0.5299713419682539,-0.5930551840373899],[0.5557151489701342,-0.43305518320971764]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_1","position":[0.2892750182426336,-1.3627495524703133,0.71338606911949],"aabb_xy":[[0.2768076601328979,-1.3752148771036368],[0.3017423763523692,-1.3502842278369898]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_2","position":[0.1806693485152543,-2.406287453154404,0.71338606911949],"aabb_xy":[[0.17262598858929912,-2.4912874542497705],[0.18871270844120946,-2.3212874520590376]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.0666807061770659,-0.7959823295037987,0.71338606911949],"aabb_xy":[[-0.08488652983831357,-0.8070077300857903],[-0.04847488251581822,-0.784956928921807]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.6503544616486676,-1.0407137495825214,0.71338606911949],"aabb_xy":[[0.6328544613893311,-1.0548052917712942],[0.6678544619080043,-1.026622207393749]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_5","position":[-0.20336557272306027,-1.6678063520356705,0.71338606911949],"aabb_xy":[[-0.23899472862302001,-1.7034390187925235],[-0.16773641682310053,-1.6321736852788176]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_6","position":[-0.6549547991275448,-2.502193214923186,0.71338606911949],"aabb_xy":[[-0.6658064053764204,-2.513052505650837],[-0.6441031928786692,-2.4913339241955352]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[0.540958926183682,-0.9332965954099368,0.71338606911949],"aabb_xy":[[0.5333346580935039,-0.9409298189464806],[0.5485831942738604,-0.9256633718733932]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_8","position":[-0.5946874687996364,-0.3408864494972095,0.71338606911949],"aabb_xy":[[-0.605593244887199,-0.42088644589603863],[-0.5837816927120736,-0.2608864530983803]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[-0.45895830252528214,-0.11279311348844301,0.71338606911949],"aabb_xy":[[-0.4763890176042886,-0.1300652281522938],[-0.44152758744627557,-0.09552099882459218]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_10","position":[-0.6048733043863557,1.0026264510237004,0.71338606911949],"aabb_xy":[[-0.6423733047345834,0.9908350554426169],[-0.5673733040381279,1.014417846604784]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_11","position":[-0.2477939698355402,0.8644028807424169,0.71338606911949],"aabb_xy":[[-0.30276769187187313,0.8094028811781836],[-0.19282024779920734,0.91940288030665]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_12","position":[0.3905327655975477,-2.470444056113975,0.71338606911949],"aabb_xy":[[0.38012120691706386,-2.475789789449873],[0.4009443242780313,-2.465098322778076]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_13","position":[0.4160483551991998,1.5157174660102766,0.71338606911949],"aabb_xy":[[0.35445759597520704,1.45171746790123],[0.4776391144231927,1.5797174641193237]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[0.550416137141085,0.9888232830651025,0.71338606911949],"aabb_xy":[[0.49041613688968366,0.9345419580286378],[0.610416137392486,1.0431046081015671]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_15","position":[-0.4459087769046981,-0.2959315785171044,0.71338606911949],"aabb_xy":[[-0.4505438920569313,-0.299798913594253],[-0.4412736617524646,-0.2920642434399557]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_16","position":[0.6359600930883142,1.4527396078109658,0.71338606911949],"aabb_xy":[[0.5809600934665684,1.397755915023493],[0.6909600927100601,1.5077233005984385]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.3987428835762785,-2.066939810724706,0.71338606911949],"aabb_xy":[[0.393843591269715,-2.0946167300272744],[0.403642175882842,-2.039262891422137]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.2552343736915226,1.294612011498352,0.71338606911949],"aabb_xy":[[-0.3352343751216498,1.2150948564857424],[-0.17523437226139538,1.3741291665109614]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_19","position":[-0.43660867956765753,-2.120193587438657,0.71338606911949],"aabb_xy":[[-0.5006086788618258,-2.184179727807511],[-0.3726086802734893,-2.0562074470698026]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_20","position":[-0.2553579719206414,0.5150395562837398,0.71338606911949],"aabb_xy":[[-0.2704602733816594,0.4999380346526778],[-0.24025567045962323,0.5301410779148014]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_21","position":[0.007878671599450326,-1.643517154445627,0.71338606911949],"aabb_xy":[[-0.04209462240381012,-1.693517155000174],[0.057851965602710775,-1.5935171538910793]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_22","position":[0.07173345413028986,1.0333933318010544,0.71338606911949],"aabb_xy":[[-0.008266546339926089,1.0250826241867064],[0.1517334546005058,1.041704039415403]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_23","position":[0.17283598510623466,1.6996102447634374,0.71338606911949],"aabb_xy":[[0.14235173497920448,1.6496102449819412],[0.20332023523326478,1.749610244544933]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_24","position":[0.6947322605699153,-2.2608516112897945,0.71338606911949],"aabb_xy":[[0.6718165476848654,-2.2837559084262185],[0.7176479734549652,-2.2379473141533714]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[-0.6347013750811261,0.5647373833238696,0.71338606911949],"aabb_xy":[[-0.6429159201968099,0.556060793026228],[-0.6264868299654419,0.5734139736215107]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_26","position":[0.10419285707030745,-1.8060282570418464,0.71338606911949],"aabb_xy":[[0.08954945151627446,-1.8206869766986304],[0.11883626262434042,-1.791369537385062]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_27","position":[0.0832455170520342,-1.2202992505668064,0.71338606911949],"aabb_xy":[[0.07267803739393518,-1.2308442806798148],[0.0938129967101332,-1.2097542204537977]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_28","position":[-0.22776115555754495,-1.911019847094279,0.71338606911949],"aabb_xy":[[-0.23791417111169427,-1.9470893886670193],[-0.2176081400033955,-1.8749503055215386]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_29","position":[0.6061208704258654,-0.8829462979633584,0.71338606911949],"aabb_xy":[[0.5917864452997019,-0.8950065135178973],[0.6204552955520288,-0.8708860824088196]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900727539716076,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6505.png","name":"6505"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6481.png","name":"6481"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9606.png","name":"9606"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/942.png","name":"942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7465.png","name":"7465"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":577.0388257730598,"rotation_z_degrees":63.56871805271567,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016368926230418232,-0.01252738159858961,-0.014589992134185966]},{"name":"camera_2","offset_m":[0.0068429644764677715,0.004834673599138032,0.011722055718448938]},{"name":"camera_3","offset_m":[0.0043352731712251215,-0.010880778641576395,-0.007900342598609398]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012232164774840272,0.0013858083044657353,-0.00026253334682471013],"end_effector_yaw_offset_degrees":0.9225358906157664},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00199161161685548,0.0008860893666403501,0.0008940186801527929],"end_effector_yaw_offset_degrees":-0.7476911474697845},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0003181868624703892,-0.000726490685584006,-0.000825126135567174],"end_effector_yaw_offset_degrees":0.10312443934340054},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013495210277582616,-0.0005054226846008031,-0.0017058667544392505],"end_effector_yaw_offset_degrees":-0.18448143237686287},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[2.204492716044752e-05,-0.001341806294054325,0.0012785959102027747],"end_effector_yaw_offset_degrees":0.01805357748694214},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013610017668895555,-0.0015734862404479838,-0.0010271342608330887],"end_effector_yaw_offset_degrees":0.791525944247127}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012518850449557673,-0.0031229518780378227],"position_m":[0.13924811495504424,0.23157704812196217,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003937954977064074,0.0004737745121367043],"position_m":[0.20966204502293595,-0.05322622548786329,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013568039998899562,-0.004379525892623477],"position_m":[0.24774319600011002,-0.3877795258926235,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025398295568282037,0.004031004716796969],"position_m":[0.35106017044317184,0.12123100471679697,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"42f33a862fa13fe67970864884968cb45240c7bdb05fb10c60ee9589bc117509","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0036.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6505/tex_ceiling_textures_7465/tex_floor_textures_942/tex_table_textures_6481/tex_wall_textures_9606","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8549539157313535725,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8549539157313535725,"visual_seed":8549539157313535725,"scene_id":"lab_003","finished_at":"2026-09-06T12:04:20"} +{"episode_id":"ep_000037","started_at":"2026-09-06T12:04:25","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.11403624620955455,-2.0629552383491734,0.71338606911949],"aabb_xy":[[-0.16351666742351334,-2.1269552362620257],[-0.06455582499559577,-1.998955240436322]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_1","position":[0.4494182629027317,1.506221992810953,0.71338606911949],"aabb_xy":[[0.4269182633790243,1.483726045360332],[0.4719182624264391,1.5287179402615736]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_2","position":[-0.33325571179765046,0.4020139442764741,0.71338606911949],"aabb_xy":[[-0.3545337199411227,0.337013941950401],[-0.3119777036541782,0.46701394660254714]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_3","position":[-0.39346308526044366,1.776117037733354,0.71338606911949],"aabb_xy":[[-0.39977518479678203,1.7703500984801352],[-0.38715098572410517,1.781883976986573]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.32195773498279623,0.937404281354433,0.71338606911949],"aabb_xy":[[0.257957734708818,0.887338181157145],[0.38595773525677446,0.987470381551721]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_5","position":[-0.43397934919772074,-1.1239480733277367,0.71338606911949],"aabb_xy":[[-0.5139793506278478,-1.203465228340346],[-0.3539793477675935,-1.044430918315127]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.2987083443915829,1.5041115871673978,0.71338606911949],"aabb_xy":[[-0.3362083446837577,1.500070111766794],[-0.2612083440994081,1.508153062568001]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_7","position":[-0.43123338791012844,0.8155240646065414,0.71338606911949],"aabb_xy":[[-0.4388576560003067,0.8078908410699976],[-0.4236091198199502,0.8231572881430851]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.6321754503921349,-1.5074678270175874,0.71338606911949],"aabb_xy":[[-0.6696754508894931,-1.511436510565706],[-0.5946754498947766,-1.503499143469469]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[-0.30563979357076204,-0.7424326535051411,0.71338606911949],"aabb_xy":[[-0.35081111141893107,-0.8064326506496797],[-0.26046847572259313,-0.6784326563606028]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.42103341739969413,-1.64551556358525,0.71338606911949],"aabb_xy":[[0.37103341795949835,-1.6954834880695664],[0.4710334168398896,-1.5955476391009338]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.542799502289383,0.9188277516824161,0.71338606911949],"aabb_xy":[[0.537843482104502,0.8963277514802949],[0.5477555224742643,0.9413277518845381]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_12","position":[0.612064794014362,0.5434933160361508,0.71338606911949],"aabb_xy":[[0.5480647923363646,0.4949759245568366],[0.6760647956923593,0.592010707515465]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[-0.341674599532518,-1.8269603002758674,0.71338606911949],"aabb_xy":[[-0.3545465030334581,-1.9069603006897033],[-0.3288026960315778,-1.746960299862031]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_14","position":[-0.35081478365059476,0.20733145149296872,0.71338606911949],"aabb_xy":[[-0.4148147840281284,0.15758618464215646],[-0.28681478327306115,0.257076718343781]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_15","position":[-0.22999318392762597,-2.1006684063652736,0.71338606911949],"aabb_xy":[[-0.2524931839377742,-2.1147646260048765],[-0.20749318391747765,-2.08657218672567]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.10951565355640314,0.9580627253874159,0.71338606911949],"aabb_xy":[[0.04551565712908123,0.9108931015653196],[0.17351564998372504,1.0052323492095123]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_17","position":[0.1452141889578925,1.7256367812202513,0.71338606911949],"aabb_xy":[[0.10841955583298624,1.6887309061236688],[0.18200882208279878,1.7625426563168334]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_18","position":[0.26109078974339694,-1.3643547111712144,0.71338606911949],"aabb_xy":[[0.21110783955591758,-1.4143547108137748],[0.3110737399308762,-1.314354711528654]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_19","position":[-0.6334742061307006,0.14671626531109405,0.71338606911949],"aabb_xy":[[-0.6432301956398745,0.1369537312518596],[-0.6237182166215267,0.1564787993703285]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[-0.14359499924710373,0.6287889340828454,0.71338606911949],"aabb_xy":[[-0.20759499783367621,0.5817819706833367],[-0.0795950006605313,0.6757958974823541]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.15948650699839995,-2.1807014139577174,0.71338606911949],"aabb_xy":[[0.1560458307583428,-2.184562846932082],[0.16292718323845715,-2.176839980983353]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_22","position":[0.6256293881900814,-1.9988184287908974,0.71338606911949],"aabb_xy":[[0.6168273328811086,-2.006629754945826],[0.634431443499054,-1.9910071026359681]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_23","position":[0.3322786903778032,-1.2105763257930193,0.71338606911949],"aabb_xy":[[0.2937329975526022,-1.2491220968492083],[0.37082438320300426,-1.1720305547368308]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.5683396475617379,-0.3648173556497545,0.71338606911949],"aabb_xy":[[-0.5858396478067871,-0.3823171434893213],[-0.5508396473166883,-0.3473175678101876]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6920665667623886,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8057.png","name":"8057"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8057.png","name":"8057"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5937.png","name":"5937"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5423.png","name":"5423"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2649.png","name":"2649"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8366.png","name":"8366"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":662.0261631850638,"rotation_z_degrees":38.497924540586695,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.007454115983091047,0.00048689951349237606,0.0006719824944911405]},{"name":"camera_2","offset_m":[-0.002965907542629386,-0.005990915208389689,-0.014109023891628842]},{"name":"camera_3","offset_m":[0.018381483440540306,0.01899059960564597,0.016441059347407947]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007807560337397535,-0.0006966813569960317,-0.0009120593482295871],"end_effector_yaw_offset_degrees":0.07892325905403497},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0011852900590418117,-6.951840733058308e-05,-0.00040489864160165256],"end_effector_yaw_offset_degrees":-0.824762028665672},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007459321501094552,0.0008911912011196517,0.0014599120105585617],"end_effector_yaw_offset_degrees":-0.6452294405963888},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.409297685980577e-05,-0.0008705547996474103,-0.0008827149500270023],"end_effector_yaw_offset_degrees":-0.5590664391241158},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008953031437607039,0.0007951733434922682,0.0014532323874804978],"end_effector_yaw_offset_degrees":0.03583614965189175},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014482739469328166,-0.00017199876269822926,0.00195856439579068],"end_effector_yaw_offset_degrees":-0.21813331033024563}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027045861668475247,0.0033382817477551124],"position_m":[0.14320458616684753,0.2380382817477551,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004642593959344884,0.0003434031465621287],"position_m":[0.2182425939593449,-0.05335659685343787,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004764651201408637,0.00116583724922512],"position_m":[0.2538646512014086,-0.3822341627507749,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0001777251789937713,-0.0043671190432212435],"position_m":[0.3537777251789938,0.11283288095677875,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"225aabf29a3995771d7ebd265a3404b606c2701898b48fe0fc52f810c29e7292","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0037.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_8057/tex_ceiling_textures_8366/tex_floor_textures_2649/tex_table_textures_5937/tex_wall_textures_5423","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":402500467333299667,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":402500467333299667,"visual_seed":402500467333299667,"scene_id":"lab_003","finished_at":"2026-09-06T12:10:40"} +{"episode_id":"ep_000038","started_at":"2026-09-06T12:10:47","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_0","position":[0.635861829727296,-1.184803758613482,0.71338606911949],"aabb_xy":[[0.571861827506889,-1.2291768427387704],[0.699861831947703,-1.1404306744881938]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_1","position":[-0.2849013490108656,0.7930147790319877,0.71338606911949],"aabb_xy":[[-0.3649013492844726,0.720065231206271],[-0.20490134873725865,0.8659643268577044]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.5610143583942719,1.5714284703713575,0.71338606911949],"aabb_xy":[[0.5492461715996145,1.486428470466136],[0.5727825451889296,1.6564284702765792]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_3","position":[-0.16148144648602203,1.0454623585835012,0.71338606911949],"aabb_xy":[[-0.25148144322163224,0.9922788952662067],[-0.07148144975041179,1.0986458219007957]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_4","position":[0.30030415167148594,-1.8522555069569508,0.71338606911949],"aabb_xy":[[0.2353041507143587,-1.9042037188906564],[0.3653041526286131,-1.8003072950232453]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.14298118648785052,1.605781375392627,0.71338606911949],"aabb_xy":[[-0.15119573160353447,1.5971047850949858],[-0.1347666413721665,1.6144579656902684]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_6","position":[-0.05476935694700724,-1.8404147310655703,0.71338606911949],"aabb_xy":[[-0.13476935492779227,-1.8480162720274222],[0.0252306410337778,-1.8328131901037183]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_7","position":[0.34551616766619864,1.448829285912471,0.71338606911949],"aabb_xy":[[0.2955161690202774,1.3989097422530083],[0.3955161663121198,1.4987488295719331]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.6034195743162045,-2.1610967871086677,0.71338606911949],"aabb_xy":[[0.5534245633567526,-2.21109678614426],[0.6534145852756567,-2.1110967880730764]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_9","position":[0.1636877778477417,-1.3482768064524644,0.71338606911949],"aabb_xy":[[0.12618777927212088,-1.3610131021160223],[0.2011877764233625,-1.3355405107889065]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.10313053756921708,-0.915159999768457,0.71338606911949],"aabb_xy":[[0.05813795085076667,-0.9601599990429057],[0.1481231242876675,-0.8701600004940082]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_11","position":[-0.4482001084555494,1.3104886933134972,0.71338606911949],"aabb_xy":[[-0.4852342178836091,1.2761114859797877],[-0.4111659990274896,1.3448659006472066]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_12","position":[0.17829060539302266,1.3853097035648059,0.71338606911949],"aabb_xy":[[0.17232406645228687,1.3793485589054417],[0.18425714433375845,1.39127084822417]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[0.29185815469795207,-2.4261738942335804,0.71338606911949],"aabb_xy":[[0.24197545782025587,-2.476173893479855],[0.34174085157564826,-2.3761738949873057]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.22569112530992197,-1.30958181733781,0.71338606911949],"aabb_xy":[[-0.29069112641586525,-1.3345471904059385],[-0.16069112420397869,-1.284616444269682]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.6249190799528721,0.68809635984364,0.71338606911949],"aabb_xy":[[0.5749457859496117,0.6380963592890927],[0.6748923739561326,0.7380963603981874]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[-0.0640721486165381,1.4058108823968496,0.71338606911949],"aabb_xy":[[-0.11406526072572999,1.3558108817226542],[-0.0140790365073462,1.4558108830710454]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[-0.3215612452124932,0.34422149879090025,0.71338606911949],"aabb_xy":[[-0.3915612468147726,0.3307887055892426],[-0.25156124361021365,0.35765429199255777]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_18","position":[-0.11487594515484023,-0.8024481361580009,0.71338606911949],"aabb_xy":[[-0.1325087807483678,-0.8200710821736238],[-0.09724310956131266,-0.7848251901423778]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.5603716168836043,-1.4498506107079614,0.71338606911949],"aabb_xy":[[-0.5652152116448342,-1.4547022631869457],[-0.5555280221223743,-1.4449989582289775]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_20","position":[0.6662062459736964,1.7017437960708608,0.71338606911949],"aabb_xy":[[0.6574922769237618,1.6792437954116721],[0.6749202150236308,1.7242437967300486]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.5595700372699106,-1.5458051791916887,0.71338606911949],"aabb_xy":[[0.5251076898717686,-1.5802990615895112],[0.5940323846680522,-1.5113112967938658]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_22","position":[-0.57852558870376,-1.7711604939543875,0.71338606911949],"aabb_xy":[[-0.5944100819690851,-1.7855134342532115],[-0.5626410954384348,-1.7568075536555634]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_23","position":[0.31766666779444797,-0.9882563325900064,0.71338606911949],"aabb_xy":[[0.3127673754878844,-1.0159332518925752],[0.3225659601010114,-0.9605794132874377]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[0.22944575716680193,-1.2121866407250206,0.71338606911949],"aabb_xy":[[0.22303194352361697,-1.218596460972689],[0.23585957080998685,-1.2057768204773522]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_25","position":[0.23348750514560568,1.6128427179230385,0.71338606911949],"aabb_xy":[[0.19669287202069938,1.575936842826456],[0.27028213827051195,1.6497485930196205]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_26","position":[-0.293339882029161,-2.2482468176340893,0.71338606911949],"aabb_xy":[[-0.35833988206346373,-2.2949474943144166],[-0.22833988199485827,-2.201546140953762]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6908952763494571,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7688.png","name":"7688"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7688.png","name":"7688"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6845.png","name":"6845"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9613.png","name":"9613"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1489.png","name":"1489"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/135.png","name":"135"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":583.2146172003859,"rotation_z_degrees":288.1251160863312,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0029351116820443904,-0.017755186249362374,0.007969575224607495]},{"name":"camera_2","offset_m":[0.009318374274932338,0.016511246457794965,0.0074739281867384]},{"name":"camera_3","offset_m":[0.008470606440156625,-0.008319232350972334,0.0023366066403041202]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005226981938174151,-0.0006909921890838535,0.0012324569359124632],"end_effector_yaw_offset_degrees":-0.209802069504486},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0005420271118894192,0.0006225179243813639,0.0002614259030365362],"end_effector_yaw_offset_degrees":0.7712866841285919},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009127725035473816,-0.0007475540755812055,-0.00031248331218435596],"end_effector_yaw_offset_degrees":-0.5371881641071818},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012809607605329433,-0.0011750742490648715,0.0009493938272010314],"end_effector_yaw_offset_degrees":0.3917411026241777},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011377214640298327,0.0008465015571532727,-0.0018226050652166955],"end_effector_yaw_offset_degrees":0.7071610264968735},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00020402745236789734,-0.0008723762498503817,0.000874721021465965],"end_effector_yaw_offset_degrees":-0.9010706481692898}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-3.5115647008475935e-05,0.004049625242940755],"position_m":[0.14046488435299154,0.23874962524294074,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00210212115653002,0.0032254689010817834],"position_m":[0.21149787884347,-0.05047453109891822,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021465454877246234,-0.0006535706618869732],"position_m":[0.2512465454877246,-0.384053570661887,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001136804394531202,-0.0008308370986715718],"position_m":[0.3547368043945312,0.11636916290132843,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9623b68f280877bfa722e52247a5bba6609639d564b9c6d9683bc1eb956a6e1f","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0038.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7688/tex_ceiling_textures_135/tex_floor_textures_1489/tex_table_textures_6845/tex_wall_textures_9613","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3055694591883617884,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3055694591883617884,"visual_seed":3055694591883617884,"scene_id":"lab_003","finished_at":"2026-09-06T12:16:36"} +{"episode_id":"ep_000039","started_at":"2026-09-06T12:16:42","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_0","position":[-0.33294994738536743,0.865158264279938,0.71338606911949],"aabb_xy":[[-0.34229695496766266,0.850854642062294],[-0.3236029398030722,0.8794618864975821]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_1","position":[0.6711652616631887,0.9818765277636881,0.71338606911949],"aabb_xy":[[0.6540631837048205,0.9647697222324183],[0.6882673396215568,0.9989833332949578]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_2","position":[0.5260889364006025,-0.21979850289830472,0.71338606911949],"aabb_xy":[[0.47096373077101167,-0.2797985043395918],[0.5812141420301932,-0.15979850145701754]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.6365097863829172,-2.433284007259096,0.71338606911949],"aabb_xy":[[0.5866270895052211,-2.483284006505371],[0.6863924832606135,-2.3832840080128217]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_4","position":[0.028093835713932203,-2.1393432401090267,0.71338606911949],"aabb_xy":[[-0.03190616479392071,-2.1961899737949477],[0.08809383622178511,-2.0824965064231047]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.5211277277366129,1.576419479924906,0.71338606911949],"aabb_xy":[[0.5050658002780951,1.4914194781123142],[0.5371896551951304,1.6614194817374979]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.10334339713554463,1.5108258661290308,0.71338606911949],"aabb_xy":[[0.0898968705015013,1.4973560144759395],[0.11678992376958797,1.5242957177821221]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.05905239062492551,1.1467024779743342,0.71338606911949],"aabb_xy":[[-0.0660938415756731,1.1396757262365398],[-0.05201093967417791,1.1537292297121287]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_8","position":[0.5068026574090181,-0.7476115368110299,0.71338606911949],"aabb_xy":[[0.4569858779441833,-0.7976115352953334],[0.5566194368738528,-0.6976115383267266]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_9","position":[-0.517651252088058,-1.5040874739122596,0.71338606911949],"aabb_xy":[[-0.5322946576420908,-1.5187461935690436],[-0.5030078465340249,-1.4894287542554752]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[0.6205146005517672,-1.6861101584784268,0.71338606911949],"aabb_xy":[[0.5830145990361355,-1.6973369314945717],[0.6580146020673989,-1.6748833854622815]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_11","position":[-0.12496963746643641,-1.8521627638913003,0.71338606911949],"aabb_xy":[[-0.17496963875027638,-1.9021416182819222],[-0.07496963618259644,-1.802183909500678]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_12","position":[0.11026247951148604,0.6124186974774339,0.71338606911949],"aabb_xy":[[0.09115017215350718,0.5932839186001919],[0.1293747868694649,0.631553476354676]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_13","position":[0.42700894776898046,1.2028287729376044,0.71338606911949],"aabb_xy":[[0.41901545797369855,1.1948306409971288],[0.4350024375642626,1.21082690487808]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_14","position":[-0.13746978016933542,-0.7012034616015248,0.71338606911949],"aabb_xy":[[-0.16579949011787565,-0.7056642037952419],[-0.1091400702207952,-0.6967427194078077]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[0.43713956737646287,-2.1123564870501355,0.71338606911949],"aabb_xy":[[0.4021395681836446,-2.1233235330477975],[0.47213956656928113,-2.1013894410524725]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.34152392412366667,-1.140009563026053,0.71338606911949],"aabb_xy":[[-0.4215239212832419,-1.15155716398387],[-0.2615239269640913,-1.128461962068236]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[0.3386604816234442,-1.4462248220367118,0.71338606911949],"aabb_xy":[[0.28866048067291133,-1.477773969040233],[0.38866048257397695,-1.4146756750331901]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.06541466110993976,0.7079507559090987,0.71338606911949],"aabb_xy":[[-0.1294146630222821,0.6520396066510883],[-0.0014146591975974232,0.7638619051671092]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.26699018783180084,-2.459903298191182,0.71338606911949],"aabb_xy":[[0.25827621878186624,-2.4824032988503695],[0.2757041568817352,-2.437403297531993]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_20","position":[-0.3196595819141955,1.539540467410426,0.71338606911949],"aabb_xy":[[-0.3459484062346361,1.5132690337557748],[-0.29337075759375475,1.5658119010650773]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_21","position":[0.08578606908136543,1.4325521856099868,0.71338606911949],"aabb_xy":[[0.050786067729883706,1.412192449653166],[0.12078607043284717,1.4529119215668076]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_22","position":[0.35622916022581474,0.5349725819032223,0.71338606911949],"aabb_xy":[[0.3340566332491639,0.512796914747099],[0.37840168720246553,0.5571482490593453]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_23","position":[0.5884706696898945,0.07815442456393962,0.71338606911949],"aabb_xy":[[0.5710399546108879,0.0608823099000888],[0.6059013847689009,0.09542653922779042]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_24","position":[-0.13540223489938108,-1.007907485054252,0.71338606911949],"aabb_xy":[[-0.1556865376227798,-1.0281901101969606],[-0.1151179321759823,-0.987624859911543]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_25","position":[0.02746359243209129,1.0961741000512597,0.71338606911949],"aabb_xy":[[-0.00302065769493887,1.0461741002697638],[0.05794784255912144,1.1461740998327556]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_26","position":[0.3149396756329741,1.3433198768380112,0.71338606911949],"aabb_xy":[[0.3108038193002739,1.3058198773936542],[0.3190755319656743,1.3808198762823682]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_27","position":[0.5767108087663424,0.5218783910304179,0.71338606911949],"aabb_xy":[[0.5396766993382826,0.4875011836967083],[0.613744918194402,0.5562555983641272]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_28","position":[-0.5131036001920846,0.5298622691549486,0.71338606911949],"aabb_xy":[[-0.5681035993686739,0.47487259437999085],[-0.45810360101549497,0.5848519439299061]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882090938024227,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3718.png","name":"3718"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3814.png","name":"3814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8424.png","name":"8424"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9016.png","name":"9016"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4856.png","name":"4856"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":780.9134374388304,"rotation_z_degrees":157.61023698156296,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01367782512279243,-0.00040738878205588344,9.208816452428714e-05]},{"name":"camera_2","offset_m":[0.01648423178557835,0.01659407040978288,-0.004734661070280062]},{"name":"camera_3","offset_m":[0.008927720704544364,-0.01577940206113594,-0.01301768423823792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014724291926794474,-0.0014720067170110886,0.0001970333143565886],"end_effector_yaw_offset_degrees":-0.11879384556779948},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0009644791442333057,0.001190232392787861,-0.000973893177809897],"end_effector_yaw_offset_degrees":-0.6096502380498829},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002517795653512627,0.001828482865270422,-0.0003942049428157675],"end_effector_yaw_offset_degrees":0.6460234788631607},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.863771500104305e-05,-0.0004454021546173733,-0.0016882519185908076],"end_effector_yaw_offset_degrees":0.7221476374507583},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001352344836457599,0.0008598283049114312,-0.000665580850728515],"end_effector_yaw_offset_degrees":0.6112294863414662},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001420009444232186,-0.0005945381812210901,-0.00011832646721789911],"end_effector_yaw_offset_degrees":-0.1699389438002359}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037538672323207843,0.004241350804493216],"position_m":[0.13674613276767922,0.23894135080449322,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020710795072538092,-0.004982556979924736],"position_m":[0.2156710795072538,-0.058682556979924735,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001097113523241342,-0.0006674884291858977],"position_m":[0.24800288647675864,-0.3840674884291859,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004159192521191949,0.0006987642070111297],"position_m":[0.357759192521192,0.11789876420701113,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ace799b7d7e7eedaa7c3614173622539afd95eaa8083e015188c78139d2245a1","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3718/tex_ceiling_textures_4856/tex_floor_textures_9016/tex_table_textures_3814/tex_wall_textures_8424","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6349386023484114330,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6349386023484114330,"visual_seed":6349386023484114330,"scene_id":"lab_003","finished_at":"2026-09-06T12:22:40"} +{"episode_id":"ep_000040","started_at":"2026-09-06T12:22:47","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_0","position":[-0.06859392399063469,-1.5400790297796767,0.71338606911949],"aabb_xy":[[-0.12359392316722416,-1.5950687045546343],[-0.013593924814045186,-1.485089355004719]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_1","position":[0.09261087717580196,-1.4341388887803432,0.71338606911949],"aabb_xy":[[0.042637583172541516,-1.4841388893348904],[0.1425841711790624,-1.3841388882257957]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[-0.17958248914083919,-1.6832169028428143,0.71338606911949],"aabb_xy":[[-0.19115146988777576,-1.708216902959746],[-0.1680135083939026,-1.6582169027258826]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_3","position":[-0.622791047103199,-2.425423791044311,0.71338606911949],"aabb_xy":[[-0.6426820869835393,-2.4380796023290077],[-0.6029000072228589,-2.412767979759614]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_4","position":[0.30838946129746003,0.7085373503198844,0.71338606911949],"aabb_xy":[[0.28547374841241013,0.6856330531834609],[0.33130517418250993,0.7314416474563079]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_5","position":[0.0180514940305192,1.3027312448557078,0.71338606911949],"aabb_xy":[[-0.03194161807867269,1.2527312441815122],[0.0680446061397111,1.3527312455299034]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_6","position":[-0.6163753352895855,-1.556544748607504,0.71338606911949],"aabb_xy":[[-0.6538753355817604,-1.5605862240081074],[-0.5788753349974107,-1.5525032732069004]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.42740744398273467,-2.208970858489169,0.71338606911949],"aabb_xy":[[-0.5074012675612929,-2.288970861082011],[-0.3474136204041765,-2.128970855896328]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[0.4094023148745931,-1.1480701920862937,0.71338606911949],"aabb_xy":[[0.3294023162872736,-1.2273857940244546],[0.4894023134619125,-1.0687545901481328]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.6072739173130729,1.34944953974788,0.71338606911949],"aabb_xy":[[-0.6672739178209257,1.2926028060619585],[-0.5472739168052199,1.4062962734338011]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_10","position":[-0.45413152497713505,-1.3654330561191574,0.71338606911949],"aabb_xy":[[-0.49163152649276665,-1.3766598291353023],[-0.41663152346150323,-1.3542062831030122]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.6172593631602104,1.0084308265068365,0.71338606911949],"aabb_xy":[[-0.6245206107306179,0.995643816243327],[-0.609998115589803,1.021217836770346]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_12","position":[0.43631716329638004,1.283331428951421,0.71338606911949],"aabb_xy":[[0.4188172298623966,1.2658314290311865],[0.45381709673036336,1.3008314288716556]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_13","position":[0.3315787376770447,1.0225768237980701,0.71338606911949],"aabb_xy":[[0.28377257006327605,0.9575768210910112],[0.3793849052908133,1.087576826505129]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_14","position":[0.5369847876763185,-2.1920676962560255,0.71338606911949],"aabb_xy":[[0.49843909485111737,-2.230613467312214],[0.5755304805015194,-2.1535219251998368]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_15","position":[-0.5865733683836211,-1.2471948381000224,0.71338606911949],"aabb_xy":[[-0.5959203759659163,-1.2614984603176664],[-0.5772263608013258,-1.2328912158823784]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[0.26185630356657874,1.6770034065974602,0.71338606911949],"aabb_xy":[[0.22482219413851903,1.6426261992637508],[0.2988904129946385,1.7113806139311696]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_17","position":[-0.08064872839042603,0.68989017161564,0.71338606911949],"aabb_xy":[[-0.11412789565146698,0.6564110582445332],[-0.047169561129385106,0.7233692849867471]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_18","position":[-0.4050582678828043,0.040071504275116965,0.71338606911949],"aabb_xy":[[-0.4275546893166684,0.017571504468369532],[-0.3825618464489402,0.0625715040818644]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_19","position":[-0.5596590692716827,-1.6866539444176571,0.71338606911949],"aabb_xy":[[-0.5714272560663404,-1.771653944322879],[-0.5478908824770253,-1.6016539445124358]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[0.5280785931025493,-0.5360999912788107,0.71338606911949],"aabb_xy":[[0.4480785926323335,-0.5444106988931592],[0.6080785935727654,-0.5277892836644624]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_21","position":[-0.40306975293276,1.7371056490025656,0.71338606911949],"aabb_xy":[[-0.41099303317150837,1.714605648764562],[-0.3951464726940117,1.7596056492405687]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_22","position":[-0.43248501868779415,-0.5619767549993946,0.71338606911949],"aabb_xy":[[-0.44047850848307624,-0.5699748869398703],[-0.4244915288925122,-0.5539786230589191]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_23","position":[0.265529061211755,-2.343484280430956,0.71338606911949],"aabb_xy":[[0.2584876102610074,-2.350511032168751],[0.2725705121625026,-2.336457528693162]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_24","position":[-0.08197525656444893,-1.9176019658000707,0.71338606911949],"aabb_xy":[[-0.17197526024136708,-1.9790343723771744],[0.008024747112469253,-1.8561695592229657]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.004763392553537749,1.0949275361712192,0.71338606911949],"aabb_xy":[[-0.023885939806878476,1.066281976894143],[0.03341272491395397,1.1235730954482945]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_26","position":[-0.22816316769626727,0.8203098692767608,0.71338606911949],"aabb_xy":[[-0.2383161832504166,0.7842403277040202],[-0.21801015214211783,0.8563794108495009]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863165752646472,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3876.png","name":"3876"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4478.png","name":"4478"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2240.png","name":"2240"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6085.png","name":"6085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8569.png","name":"8569"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":543.8274985724746,"rotation_z_degrees":61.39372779361325,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0066915437196612,-0.005344545201165878,0.007737745327035559]},{"name":"camera_2","offset_m":[-0.005034117025344145,-0.015292231370954439,-0.014457448804054432]},{"name":"camera_3","offset_m":[-0.018778488419975776,0.015258319175482957,0.008884978798133065]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010613062346423313,-0.0017332178006920485,9.39022706850437e-06],"end_effector_yaw_offset_degrees":-0.07691741279623976},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0014431349381651408,0.00048076017630493354,-0.001918849905568635],"end_effector_yaw_offset_degrees":-0.8008378557988545},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007235342935550634,-0.0010153867599009202,-0.0010402506107011788],"end_effector_yaw_offset_degrees":-0.8646571160298382},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009992142793972146,0.0004511344650070751,0.0005468265987998147],"end_effector_yaw_offset_degrees":-0.17280005036732593},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008872501875712144,0.0006678550309148798,-0.0003463725839506573],"end_effector_yaw_offset_degrees":0.5922253982481125},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015635794398051886,-0.00022153530746695177,0.0015894226663897685],"end_effector_yaw_offset_degrees":-0.5862772392614246}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0049857314938824724,-0.0021217095078215355],"position_m":[0.1454857314938825,0.23257829049217846,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0032507297650474594,-0.0037038891571382682],"position_m":[0.21685072976504746,-0.05740388915713827,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003717026133575918,-0.0011672135164424503],"position_m":[0.24538297386642408,-0.38456721351644246,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004123692219409528,-0.004200379005695651],"position_m":[0.35772369221940953,0.11299962099430434,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c32ea9bdb426ad2afa63c3ca1416b1d768e4eac5983e415762dee7e9078ce25","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0040.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3876/tex_ceiling_textures_8569/tex_floor_textures_6085/tex_table_textures_4478/tex_wall_textures_2240","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1016982168964215465,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1016982168964215465,"visual_seed":1016982168964215465,"scene_id":"lab_003","finished_at":"2026-09-06T12:28:37"} +{"episode_id":"ep_000041","started_at":"2026-09-06T12:28:42","dimensions":{"distractor":{"count":24,"items":[{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_0","position":[-0.40941787008711195,1.2751234578396815,0.71338606911949],"aabb_xy":[[-0.4313076176760527,1.1851234605504324],[-0.3875281224981711,1.3651234551289306]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[-0.4858742435548348,-0.5199377135274719,0.71338606911949],"aabb_xy":[[-0.503549874143433,-0.5376179298068745],[-0.4681986129662364,-0.502257497248069]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.5002715404766591,-2.03960186247491,0.71338606911949],"aabb_xy":[[-0.5231872533617091,-2.0625061596113334],[-0.4773558275916093,-2.0166975653384864]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_3","position":[0.28438666525440703,1.5922579388482867,0.71338606911949],"aabb_xy":[[0.26188666501089164,1.5800533041885148],[0.30688666549792243,1.6044625735080587]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_4","position":[0.6465660817877126,0.20800323866813875,0.71338606911949],"aabb_xy":[[0.6405290687870479,0.20197653759919057],[0.6526030947883773,0.21402993973708698]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.6997266145603125,-0.3052199517560297,0.71338606911949],"aabb_xy":[[0.692482848514067,-0.38521994995963205],[0.7069703806065577,-0.2252199535524273]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[-0.22521983383689048,-1.1885623157970409,0.71338606911949],"aabb_xy":[[-0.24285266943041806,-1.2061852618126636],[-0.2075869982433629,-1.1709393697814177]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.2982767566308493,-2.130514362243049,0.71338606911949],"aabb_xy":[[-0.3045888561671877,-2.136281301496268],[-0.29196465709451086,-2.1247474229898304]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.5134028057665805,1.0784329770014,0.71338606911949],"aabb_xy":[[-0.5309028060116298,1.060933189161833],[-0.49590280552153104,1.0959327648409667]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_9","position":[0.1334365972170274,1.733967110953747,0.71338606911949],"aabb_xy":[[0.10478726485661113,1.7053215516766709],[0.16208592957744358,1.7626126702308225]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.4222725648898535,-0.8064916943022693,0.71338606911949],"aabb_xy":[[-0.4340407516845111,-0.891491694207491],[-0.4105043780951961,-0.7214916943970477]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.7003662910384358,-1.1052543533674082,0.71338606911949],"aabb_xy":[[0.6927420229482577,-1.1128875769039521],[0.7079905591286142,-1.0976211298308647]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.46998235877617267,0.11225505144931436,0.71338606911949],"aabb_xy":[[0.4421373219955655,0.08147055271100269],[0.49782739555677974,0.14303955018762604]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_13","position":[0.4848873671784937,0.484068960682031,0.71338606911949],"aabb_xy":[[0.3948873685840237,0.46781837436860996],[0.5748873657729636,0.500319546995452]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_14","position":[-0.5952647024082485,-2.41752544036538,0.71338606911949],"aabb_xy":[[-0.6068336831551852,-2.442525440482312],[-0.583695721661312,-2.3925254402484484]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[-0.07356608112026042,0.5514467611709097,0.71338606911949],"aabb_xy":[[-0.08643798462120054,0.47144676075707354],[-0.06069417761932027,0.6314467615847458]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_16","position":[0.35640390106347697,-1.4319410380165045,0.71338606911949],"aabb_xy":[[0.348410411268195,-1.4399391699569801],[0.36439739085875905,-1.423942906076029]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.22841331970762108,0.2128344255435115,0.71338606911949],"aabb_xy":[[-0.28841332056843383,0.16140799553702506],[-0.16841331884680824,0.2642608555499978]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_18","position":[0.3316492808043765,-1.9626738037457918,0.71338606911949],"aabb_xy":[[0.2516492837901285,-1.9828083554192029],[0.4116492778186245,-1.9425392520723803]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.4606321853148516,1.6156786704272208,0.71338606911949],"aabb_xy":[[-0.4971280059421303,1.579194728000463],[-0.4241363646875728,1.6521626128539781]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_20","position":[-0.5278456058014752,-1.3810726960878987,0.71338606911949],"aabb_xy":[[-0.5828378564369862,-1.4360726978312117],[-0.4728533551659643,-1.3260726943445862]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_21","position":[-0.47621139110766597,-2.3307112946257877,0.71338606911949],"aabb_xy":[[-0.48116741129254714,-2.35321129482791],[-0.4712553709227848,-2.3082112944236663]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_22","position":[0.1434718635299399,-0.7194561962421504,0.71338606911949],"aabb_xy":[[0.08849814149360702,-0.7744561958063836],[0.1984455855662728,-0.6644561966779172]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_23","position":[0.5092869016973027,-0.1954863572696781,0.71338606911949],"aabb_xy":[[0.4591894377162291,-0.2594863577794899],[0.5593843656783763,-0.13148635675986628]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6885738558339393,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3519.png","name":"3519"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3519.png","name":"3519"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2979.png","name":"2979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3000.png","name":"3000"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/694.png","name":"694"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5640.png","name":"5640"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":626.0685954383131,"rotation_z_degrees":202.78141495705196,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006777034134580867,0.008995999268966732,0.0010706317115823823]},{"name":"camera_2","offset_m":[-0.016520688363470547,0.019863445829752368,0.006839951027566505]},{"name":"camera_3","offset_m":[0.011523809572995068,-0.004985093280700141,-0.016064355872933894]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001542178239145682,0.0001687317925025346,0.00032772482215257144],"end_effector_yaw_offset_degrees":0.769922244859947},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[5.8845501246066e-05,-0.001415575644835604,0.0006188665130846603],"end_effector_yaw_offset_degrees":0.5321446580978733},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000681885926918801,0.00029666008442007317,0.0012891663974288542],"end_effector_yaw_offset_degrees":0.9560004666865283},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004942744507547953,0.00019402405812588095,0.0010905895792049118],"end_effector_yaw_offset_degrees":-0.3732331332958083},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004897766084603137,0.001061795454274287,5.11231906442141e-05],"end_effector_yaw_offset_degrees":-0.8495001729581559},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0019803444390591183,-0.00022269455399436867,0.0011868471546822076],"end_effector_yaw_offset_degrees":-0.7053536118103687}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004208498259849155,-0.004922150177818302],"position_m":[0.13629150174015087,0.2297778498221817,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001612837661898233,0.004932780733194205],"position_m":[0.21376128376618983,-0.04876721926680579,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017810949370900804,0.0029864026128014623],"position_m":[0.25088109493709004,-0.38041359738719854,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036707275911035775,-0.0036455739923392204],"position_m":[0.34992927240889643,0.11355442600766077,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f92192c32783bc2e0f2c3e03e6d0aa15b3d064dd67dbbd540a9fe824e645000","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0041.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3519/tex_ceiling_textures_5640/tex_floor_textures_694/tex_table_textures_2979/tex_wall_textures_3000","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4666193040979751844,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4666193040979751844,"visual_seed":4666193040979751844,"scene_id":"lab_003","finished_at":"2026-09-06T12:34:42"} +{"episode_id":"ep_000042","started_at":"2026-09-06T12:34:48","dimensions":{"distractor":{"count":30,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[-0.014257365927546561,-1.687400019828167,0.71338606911949],"aabb_xy":[[-0.06923108796387945,-1.7424000193924],[0.04071635610878632,-1.6324000202639337]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_1","position":[0.23204566676309013,-1.097779528010251,0.71338606911949],"aabb_xy":[[0.2239179785697769,-1.1066931364209585],[0.24017335495640335,-1.0888659195995434]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[-0.46393626021707934,-1.159683093912883,0.71338606911949],"aabb_xy":[[-0.5439362634810925,-1.1732431262217964],[-0.3839362569530662,-1.1461230616039697]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[0.468899576736336,-1.3652094142243478,0.71338606911949],"aabb_xy":[[0.4313995783129355,-1.3783736281921783],[0.5063995751597362,-1.3520452002565169]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_4","position":[0.07415927666426003,-0.8711427977209794,0.71338606911949],"aabb_xy":[[-0.005840721992625975,-0.8856476566452424],[0.15415927532114604,-0.8566379387967168]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.07013889102411397,1.2668755504375855,0.71338606911949],"aabb_xy":[[-0.07717920095765098,1.1868755510379143],[-0.06309858109057699,1.346875549837257]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[-0.19336425278288227,-1.0876243144099857,0.71338606911949],"aabb_xy":[[-0.26336425438516176,-1.1010571076116433],[-0.12336425118060282,-1.0741915212083282]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.5618024776788155,-1.2925065928854464,0.71338606911949],"aabb_xy":[[-0.5705837048260519,-1.301286340173977],[-0.5530212505315794,-1.2837268455969164]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.18324595125840915,-2.040928486660109,0.71338606911949],"aabb_xy":[[0.17395233302125857,-2.078428485148243],[0.19253956949555973,-2.0034284881719753]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[0.35325804402130934,-2.0197009194250994,0.71338606911949],"aabb_xy":[[0.29325804376990816,-2.073982244461564],[0.4132580442727105,-1.9654195943886348]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[0.1358130043857646,-1.18372402736921,0.71338606911949],"aabb_xy":[[0.05581300391554865,-1.1920347349835585],[0.21581300485598057,-1.1754133197548615]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.0647637788036366,0.46778656819295117,0.71338606911949],"aabb_xy":[[-0.10226377909581141,0.46374509279234755],[-0.027263778511461778,0.4718280435935548]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_12","position":[-0.35020158615688696,-0.5718265945482393,0.71338606911949],"aabb_xy":[[-0.3915061292206229,-0.6358265941163563],[-0.3088970430931509,-0.5078265949801222]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_13","position":[0.5216776118261808,-0.9047105896728278,0.71338606911949],"aabb_xy":[[0.43667761340875766,-0.9895848851351127],[0.6066776102436041,-0.8198362942105427]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_14","position":[0.22688618652456438,-1.8920386372808045,0.71338606911949],"aabb_xy":[[0.2005973622041237,-1.9183100709354555],[0.253175010845005,-1.865767203626153]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_15","position":[0.7009237880381027,0.39576870552091714,0.71338606911949],"aabb_xy":[[0.6960801932768728,0.39091705304193297],[0.7057673827993327,0.4006203579999012]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_16","position":[0.31118538035471355,1.5519927077126607,0.71338606911949],"aabb_xy":[[0.2611922682455217,1.501992707038465],[0.3611784924639055,1.6019927083868564]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[-0.20100565411917815,1.4687675053372726,0.71338606911949],"aabb_xy":[[-0.20543628347401832,1.4633191336025904],[-0.19657502476433797,1.4742158770719553]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_18","position":[-0.47081085587430793,0.31279303465371155,0.71338606911949],"aabb_xy":[[-0.550810857304435,0.23327587964110202],[-0.3908108544441807,0.392310189666321]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_19","position":[-0.3980440883615821,-1.8212834710361205,0.71338606911949],"aabb_xy":[[-0.48176631386166463,-1.9112834745708163],[-0.3143218628614997,-1.7312834675014244]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_20","position":[0.3345759414846179,0.9590565306373078,0.71338606911949],"aabb_xy":[[0.29603024865941685,0.920510759581119],[0.37312163430981893,0.9976023016934963]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.5651942100508738,1.2159484871497792,0.71338606911949],"aabb_xy":[[0.5306031271968285,1.1509484868647482],[0.5997852929049189,1.2809484874348103]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[0.41677818025073465,-2.3258951904763183,0.71338606911949],"aabb_xy":[[0.4111965086166059,-2.338395190294093],[0.4223598518848634,-2.3133951906585426]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.344244615423809,-1.1678084924311716,0.71338606911949],"aabb_xy":[[0.3107654481627681,-1.2012876058022788],[0.37772378268484996,-1.1343293790600648]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[-0.16492652463205382,1.621142239449847,0.71338606911949],"aabb_xy":[[-0.22492652513990674,1.5642955057639252],[-0.1049265241242009,1.6779889731357678]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_25","position":[-0.2268518660701268,0.2564904734692792,0.71338606911949],"aabb_xy":[[-0.3068518634737202,0.17649790227109638],[-0.14685186866653338,0.336483044667462]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_26","position":[0.3173366801430608,0.5565006273264332,0.71338606911949],"aabb_xy":[[0.2573366792822479,0.5050741973199467],[0.3773366810038735,0.6079270573329195]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[0.43038513226637476,-1.6532578317742264,0.71338606911949],"aabb_xy":[[0.4191400766957569,-1.6644996294983214],[0.4416301878369926,-1.6420160340501309]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_28","position":[0.49656002299948,-2.1767654403020953,0.71338606911949],"aabb_xy":[[0.45906002181468714,-2.1811836629981554],[0.5340600241842727,-2.1723472176060343]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_29","position":[0.4860462236160621,0.09919517700849978,0.71338606911949],"aabb_xy":[[0.4210462235817594,0.05249450032817249],[0.5510462236503648,0.14589585368882707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6831180413897581,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7525.png","name":"7525"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7525.png","name":"7525"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2560.png","name":"2560"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6836.png","name":"6836"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8459.png","name":"8459"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4705.png","name":"4705"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.3657881368997,"rotation_z_degrees":155.51835858283184,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017781491008821645,0.009367337345825955,0.013859187388722907]},{"name":"camera_2","offset_m":[0.011559850019721155,-0.015417082404002134,0.0160917095734323]},{"name":"camera_3","offset_m":[0.014910392722149533,-0.016496906671043962,-0.013252707690996464]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017759348458998131,0.00011609681244111048,-0.0018082178845505745],"end_effector_yaw_offset_degrees":0.1297061730815383},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0005892848948945099,0.0005588330870858931,-0.001992456124917359],"end_effector_yaw_offset_degrees":0.6523284195641816},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006690482167436423,0.0015247840527541036,0.0013863948785954798],"end_effector_yaw_offset_degrees":0.6385870149500921},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016306649436901028,-7.861539165660318e-05,0.00025516187493668544],"end_effector_yaw_offset_degrees":-0.7750866800993135},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007689142327017074,0.0007577990343503732,-0.0009768582502795318],"end_effector_yaw_offset_degrees":-0.9673387918980343},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-4.238815250009152e-06,0.001958214691744643,0.0016425976958718566],"end_effector_yaw_offset_degrees":-0.31679415497699925}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00495971772411188,-0.0001466750684722875],"position_m":[0.1454597177241119,0.2345533249315277,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028592820699980008,-0.00020753787652148196],"position_m":[0.216459282069998,-0.05390753787652148,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004315497187603719,0.00367394760362368],"position_m":[0.24478450281239628,-0.37972605239637636,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008249723925005921,-0.0042858924590804615],"position_m":[0.35277502760749946,0.11291410754091953,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22db91980e55fbf5e5f578fc8e839fd99f3e0adad6cddac4d1bf4195680eb7c3","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7525/tex_ceiling_textures_4705/tex_floor_textures_8459/tex_table_textures_2560/tex_wall_textures_6836","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6066090700757098370,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6066090700757098370,"visual_seed":6066090700757098370,"scene_id":"lab_003","finished_at":"2026-09-06T12:40:45"} +{"episode_id":"ep_000043","started_at":"2026-09-06T12:40:50","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_0","position":[0.16528633881328036,1.66097932183509,0.71338606911949],"aabb_xy":[[0.10528633717035851,1.6089791725431457],[0.22528634045620222,1.712979471127034]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.596305009433751,-2.118069135454414,0.71338606911949],"aabb_xy":[[0.5658207593067208,-2.16806913523591],[0.6267892595607811,-2.068069135672918]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.19485014498513498,-0.608565811209677,0.71338606911949],"aabb_xy":[[0.15735014640951417,-0.621302106873235],[0.23235014356075578,-0.5958295155461191]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.46747632420849317,1.678469915050139,0.71338606911949],"aabb_xy":[[0.45432507823720386,1.6534699152934527],[0.4806275701797826,1.7034699148068257]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[-0.3926756219439788,0.32557197465448784,0.71338606911949],"aabb_xy":[[-0.45667561837130083,0.2784023508323914],[-0.328675625516657,0.3727415984765843]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_5","position":[0.5756188362286467,-0.4002815741441834,0.71338606911949],"aabb_xy":[[0.565207277548163,-0.40562730748008186],[0.5860303949091304,-0.39493584080828487]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[-0.31455793691446304,1.6134055286565565,0.71338606911949],"aabb_xy":[[-0.37955793955225653,1.5619259299571095],[-0.24955793427666956,1.6648851273560035]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_7","position":[-0.2928078136365336,-0.717030468852583,0.71338606911949],"aabb_xy":[[-0.31780781318827206,-0.7271729527177178],[-0.2678078140847951,-0.7068879849874483]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_8","position":[0.5789952004843959,1.8120517291016536,0.71338606911949],"aabb_xy":[[0.5612016935494795,1.794251983505856],[0.5967887074193123,1.8298514746974512]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_9","position":[-0.05265676968485877,0.7297495130468867,0.71338606911949],"aabb_xy":[[-0.11665676827143123,0.682742549647378],[0.011343228901713687,0.7767564764463954]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_10","position":[-0.33550933534547844,-0.43537620921167886,0.71338606911949],"aabb_xy":[[-0.4155093356190854,-0.5083257570373955],[-0.2555093350718714,-0.3624266613859621]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_11","position":[-0.10503297563708336,1.02021327050439,0.71338606911949],"aabb_xy":[[-0.12246369071608987,1.002941155840539],[-0.08760226055807685,1.0374853851682406]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[0.30726838228813547,-0.8485320814082971,0.71338606911949],"aabb_xy":[[0.2572854321006561,-0.8985320810508574],[0.35725133247561475,-0.7985320817657365]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_13","position":[-0.48799832350063554,-1.0199228253989954,0.71338606911949],"aabb_xy":[[-0.4929543436855169,-1.0424228256011172],[-0.48304230331575454,-0.997422825196874]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.5281185530397637,1.4403185390857067,0.71338606911949],"aabb_xy":[[-0.6181185524581345,1.4069430422415172],[-0.43811855362139274,1.4736940359298967]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.5392695735632109,-2.0794655334010463,0.71338606911949],"aabb_xy":[[-0.547312933489166,-2.1644655344964128],[-0.5312262136372556,-1.99446553230568]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_16","position":[0.3210931030320088,1.2791162099165132,0.71338606911949],"aabb_xy":[[0.24109310160188158,1.1995990549039037],[0.401093104462136,1.3586333649291227]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.4979344964577793,0.9683920128938128,0.71338606911949],"aabb_xy":[[-0.55305970208737,0.9083920114525256],[-0.44280929082818843,1.0283920143350997]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.42584694599139733,-1.1511702571042652,0.71338606911949],"aabb_xy":[[-0.43397463418471055,-1.1600838655149728],[-0.4177192577980841,-1.1422566486935577]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_19","position":[-0.6357325986875282,0.07210882376643779,0.71338606911949],"aabb_xy":[[-0.6430149150641916,-0.017891179843071214],[-0.6284502823108643,0.16210882737594673]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.14103452708647524,-1.8449250675502833,0.71338606911949],"aabb_xy":[[-0.16353452759851583,-1.8674169259156814],[-0.11853452657443464,-1.8224332091848847]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.37239703967587445,0.7242544550558798,0.71338606911949],"aabb_xy":[[0.34989704015216705,0.701758507605259],[0.39489703919958186,0.7467504025065006]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_22","position":[0.2512472807994195,1.5014331674782277,0.71338606911949],"aabb_xy":[[0.2311888691861792,1.4813680805690703],[0.2713056924126598,1.5214982543873852]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_23","position":[-0.01118253411546466,-1.0585161822201592,0.71338606911949],"aabb_xy":[[-0.0751825332852346,-1.105282869339122],[0.05281746505430528,-1.011749495101197]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_24","position":[0.16625406032861167,-2.301955754572186,0.71338606911949],"aabb_xy":[[0.11126180969310079,-2.3569557563154993],[0.2212463109641227,-2.2469557528288737]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_25","position":[-0.39114890154708093,-0.8758240147441492,0.71338606911949],"aabb_xy":[[-0.41636973840692054,-0.9010477655970358],[-0.3659280646872412,-0.8506002638912623]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_26","position":[0.08713733201350671,-1.7417434226614288,0.71338606911949],"aabb_xy":[[0.0021373333214320805,-1.7737292860563076],[0.17213733070558135,-1.70975755926655]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_27","position":[-0.2177157466499029,-0.20781911562386401,0.71338606911949],"aabb_xy":[[-0.2817114440449995,-0.2718191139245727],[-0.15372004925480628,-0.1438191173231553]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_28","position":[-0.08190166680571576,1.5276391795761959,0.71338606911949],"aabb_xy":[[-0.0898951566009978,1.5196410476357205],[-0.07390817701043374,1.5356373115166717]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_29","position":[0.2771052509900922,0.969612085763099,0.71338606911949],"aabb_xy":[[0.21310524958210156,0.9178231342391742],[0.34110525239808287,1.0214010372870235]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[-0.21920510446629193,-0.9033924250637309,0.71338606911949],"aabb_xy":[[-0.28079586369028475,-0.9673924231727778],[-0.15761434524229914,-0.8393924269546841]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859037534367092,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3532.png","name":"3532"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1814.png","name":"1814"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9004.png","name":"9004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7557.png","name":"7557"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":658.0312196633965,"rotation_z_degrees":250.41705113305136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.012516653310685109,-0.0008761549603344548,0.013369471768457219]},{"name":"camera_2","offset_m":[-0.010941081381105446,0.006390332947556299,0.011783959316987922]},{"name":"camera_3","offset_m":[0.01094235135986648,-0.010217217343771852,-0.003962347463351102]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015448683448189594,-0.0006451482266820548,-0.0012224949740841185],"end_effector_yaw_offset_degrees":-0.9989475033045965},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0002605646109800769,-8.281223657589714e-05,-0.0018763389301507223],"end_effector_yaw_offset_degrees":-0.5618104091892315},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005377756477431433,-0.0009475760800705482,-0.0016605134556071308],"end_effector_yaw_offset_degrees":0.5494531671333784},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001031282102576134,-0.00012374992559457086,0.00015198666526741516],"end_effector_yaw_offset_degrees":0.9851227196345091},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017649101692983065,-0.0001335950174758435,0.000624608804357643],"end_effector_yaw_offset_degrees":0.6137302415957087},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001896761099929123,-0.00036479072021192095,-0.0016502980378006141],"end_effector_yaw_offset_degrees":-0.03697461078119413}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008655823017626454,0.004766668859536183],"position_m":[0.14136558230176266,0.23946666885953619,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013401276209816246,0.004132244792068651],"position_m":[0.21494012762098164,-0.049567755207931344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005588817137537425,0.004289076392209931],"position_m":[0.24854111828624625,-0.3791109236077901,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003936824548960538,-0.0030398528661114564],"position_m":[0.3496631754510395,0.11416014713388854,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5de9435713d75724dadbb4efa6e575346c9aa138fa9e833b8324714346c86066","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0043.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3532/tex_ceiling_textures_7557/tex_floor_textures_9004/tex_table_textures_1814/tex_wall_textures_1463","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6643108511678782156,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6643108511678782156,"visual_seed":6643108511678782156,"scene_id":"lab_003","finished_at":"2026-09-06T12:46:39"} +{"episode_id":"ep_000044","started_at":"2026-09-06T12:46:44","dimensions":{"distractor":{"count":22,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[0.3962827575203942,0.3704788145307032,0.71338606911949],"aabb_xy":[[0.36128275762437534,0.36210457901876325],[0.4312827574164131,0.37885305004264314]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.27342393815842514,-1.7935031507295296,0.71338606911949],"aabb_xy":[[0.19342394017764006,-1.8011046916913815],[0.35342393613921014,-1.7859016097676776]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.3947329219816551,-2.274342896169096,0.71338606911949],"aabb_xy":[[0.3307329199319231,-2.314437379258404],[0.4587329240313871,-2.234248413079788]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.057856560654641065,-1.8334854807239944,0.71338606911949],"aabb_xy":[[-0.00614343574093202,-1.8974487691427278],[0.12185655705021414,-1.7695221923052606]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[0.42327889359087867,-1.1736953992888122,0.71338606911949],"aabb_xy":[[0.41677725708287405,-1.1834632213151222],[0.4297805300988833,-1.1639275772625026]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.4758701803041365,-1.6017267256218397,0.71338606911949],"aabb_xy":[[-0.48664315422550425,-1.6367267238408785],[-0.4650972063827687,-1.5667267274028005]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_6","position":[-0.12254018037498238,-1.7527350494093275,0.71338606911949],"aabb_xy":[[-0.16004018072321013,-1.7645264449904106],[-0.0850401800267546,-1.7409436538282435]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_7","position":[-0.15288894637673633,1.302107172753404,0.71338606911949],"aabb_xy":[[-0.17038894663607299,1.2880156305646315],[-0.13538894611739974,1.3161987149421768]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_8","position":[0.2741570085373063,0.9730737566445713,0.71338606911949],"aabb_xy":[[0.2522483263979552,0.9511730898244803],[0.2960656906766573,0.9949744234646618]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[0.4276342138777891,-2.172866000670517,0.71338606911949],"aabb_xy":[[0.41095707788469354,-2.189565924644447],[0.44431134987088455,-2.1561660766965867]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_10","position":[0.19136586702553982,0.7307791100386902,0.71338606911949],"aabb_xy":[[0.18640984684065864,0.7082791098365687],[0.19632188721042107,0.7532791102408121]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.5949181494681675,-2.4428276542260567,0.71338606911949],"aabb_xy":[[0.5895856348135544,-2.448151982471293],[0.6002506641227805,-2.4375033259808214]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_12","position":[-0.65459667463736,1.438485065198425,0.71338606911949],"aabb_xy":[[-0.6647496901915092,1.4024155236256843],[-0.6444436590832104,1.474554606771165]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_13","position":[-0.5852024717311068,-1.1492615912670243,0.71338606911949],"aabb_xy":[[-0.6492024724345762,-1.1952799737399453],[-0.5212024710276375,-1.1032432087941033]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_14","position":[-0.20364361452567303,1.0767758836077137,0.71338606911949],"aabb_xy":[[-0.26364361503352596,1.0199291499217924],[-0.1436436140178201,1.133622617293635]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_15","position":[0.6711665510587506,-1.4655366439492385,0.71338606911949],"aabb_xy":[[0.6536665517806637,-1.4828747440155845],[0.6886665503368374,-1.4481985438828926]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.5658724627461992,1.6821834360012047,0.71338606911949],"aabb_xy":[[-0.6156892422110339,1.6321834375169013],[-0.5160556832813644,1.732183434485508]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.5631255032956453,-1.901172087311023,0.71338606911949],"aabb_xy":[[-0.6528125796037607,-1.9911720875654735],[-0.4734384269875298,-1.8111720870565724]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_18","position":[-0.05832476361626715,-1.5445283969042958,0.71338606911949],"aabb_xy":[[-0.0907864644981946,-1.574661229019198],[-0.02586306273433969,-1.5143955647893927]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_19","position":[0.43822015119855795,0.24016901670398827,0.71338606911949],"aabb_xy":[[0.40088887467331535,0.20551596190913599],[0.47555142772380055,0.27482207149884064]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_20","position":[-0.1638370925913989,-2.240898294579884,0.71338606911949],"aabb_xy":[[-0.2138319255193405,-2.2908982934751276],[-0.11384225966345729,-2.1908982956846406]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.4144784627723652,-0.9238586265191535,0.71338606911949],"aabb_xy":[[0.39930629349073193,-0.939027483447357],[0.4296506320539986,-0.9086897695909503]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866902607133025,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3496.png","name":"3496"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3496.png","name":"3496"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8249.png","name":"8249"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1849.png","name":"1849"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4006.png","name":"4006"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/104.png","name":"104"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":663.5587270766973,"rotation_z_degrees":217.72095984412493,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014965490837554916,0.015956094501276403,-0.00947102072377445]},{"name":"camera_2","offset_m":[-0.015277237732173012,0.008812743753199043,-0.006238703951614593]},{"name":"camera_3","offset_m":[0.016085456807208107,-0.017583462485567587,-0.014612351217006995]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009415819281391054,0.001731689196462491,-0.0014298524663945815],"end_effector_yaw_offset_degrees":-0.4941937200168989},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00025976699235462104,0.0013478354152478551,-0.001153944629995321],"end_effector_yaw_offset_degrees":-0.013913342080968949},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015815797708177096,0.001361855023540563,-0.0003187794055941194],"end_effector_yaw_offset_degrees":-0.41440254780307906},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013120436808211448,0.001530187091742441,0.00014465015167859944],"end_effector_yaw_offset_degrees":-0.949574412109969},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00057814745770713,-0.0015908114368701183,-0.0014678766330322142],"end_effector_yaw_offset_degrees":-0.20141962908557587},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010189918637423284,0.00010064731460220295,-0.0006532895159015873],"end_effector_yaw_offset_degrees":-0.29803960557027853}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0024696453955237218,0.003049153969062748],"position_m":[0.1380303546044763,0.23774915396906274,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001977043676026493,-0.0008724155827779367],"position_m":[0.21162295632397352,-0.054572415582777936,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00017768869626035542,0.0034411799868737268],"position_m":[0.24892231130373962,-0.3799588200131263,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0019547586113211114,0.0006075452645112759],"position_m":[0.3516452413886789,0.11780754526451127,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e14c4bb66007baeafc70d5986bb9648cf8cffbd0fb6931ac7f3b6587de87236f","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0044.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_3496/tex_ceiling_textures_104/tex_floor_textures_4006/tex_table_textures_8249/tex_wall_textures_1849","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2654948345727170303,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2654948345727170303,"visual_seed":2654948345727170303,"scene_id":"lab_003","finished_at":"2026-09-06T12:52:44"} +{"episode_id":"ep_000045","started_at":"2026-09-06T12:52:49","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.560245250279382,-2.292366210512007,0.71338606911949],"aabb_xy":[[0.5101477862983085,-2.356366211021818],[0.6103427142604557,-2.2283662100021946]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[0.3431200878209746,-0.7395073501084684,0.71338606911949],"aabb_xy":[[0.279120090535326,-0.7810140690613123],[0.4071200851066233,-0.6980006311556244]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_2","position":[-0.2619404152224448,1.2364138613998175,0.71338606911949],"aabb_xy":[[-0.31194041658333205,1.1864359568244018],[-0.21194041386155762,1.286391765975233]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[-0.39019066202174785,1.5754560106571556,0.71338606911949],"aabb_xy":[[-0.4120993441610989,1.5535553438370646],[-0.3682819798823968,1.597356677477246]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_4","position":[0.28819534959675364,-2.433895808417094,0.71338606911949],"aabb_xy":[[0.27309304813573543,-2.448997330048155],[0.3032976510577716,-2.418794286786031]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.25860206222531756,0.9401438126573711,0.71338606911949],"aabb_xy":[[-0.28856961913514323,0.9101438123594855],[-0.2286345053154919,0.970143812955257]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_6","position":[0.11222619749964657,-1.2844491707951127,0.71338606911949],"aabb_xy":[[0.10132042141208385,-1.3644491671939416],[0.12313197358720927,-1.2044491743962833]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_7","position":[-0.43804595808070756,0.3418798550392479,0.71338606911949],"aabb_xy":[[-0.502045955383054,0.29751342807139114],[-0.37404596077836116,0.38624628200710465]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_8","position":[-0.3167229299026056,1.74156457706412,0.71338606911949],"aabb_xy":[[-0.33422293016194227,1.7274730348753475],[-0.299222929643269,1.7556561192528928]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.5161909693572024,-0.6516718165909889,0.71338606911949],"aabb_xy":[[-0.5639971369709711,-0.7166718192980479],[-0.4683848017434338,-0.58667181388393]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_10","position":[-0.370450890698672,0.5934806792702889,0.71338606911949],"aabb_xy":[[-0.3812913689251869,0.5762943979796401],[-0.3596104124721571,0.6106669605609377]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_11","position":[-0.6453611637690718,-0.6755137800337163,0.71338606911949],"aabb_xy":[[-0.6629939993625994,-0.6931367260493393],[-0.6277283281755442,-0.6578908340180933]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_12","position":[0.29981825370962134,-1.5461747170947626,0.71338606911949],"aabb_xy":[[0.2500014742447866,-1.596174715579066],[0.3496350331744561,-1.4961747186104593]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_13","position":[0.5052320804686581,0.3573300057959412,0.71338606911949],"aabb_xy":[[0.45523207944952293,0.32086379005811333],[0.5552320814877935,0.39379622153376925]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.5195794941144856,0.9595252078095311,0.71338606911949],"aabb_xy":[[0.4950332784917348,0.929276311260494],[0.5441257097372362,0.9897741043585682]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_15","position":[-0.4434535938760348,-2.2585431985568794,0.71338606911949],"aabb_xy":[[-0.45086604941742325,-2.2643944089785073],[-0.4360411383346463,-2.2526919881352514]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.06914225477894431,-1.524057259005993,0.71338606911949],"aabb_xy":[[-0.1119089616583645,-1.5880572624277958],[-0.02637554789952412,-1.4600572555841909]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[0.32723299706045017,0.5612634021948928,0.71338606911949],"aabb_xy":[[0.29724133432657984,0.5312634028580923],[0.3572246597943205,0.5912634015316933]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_18","position":[0.6890187899827775,1.0751648301437262,0.71338606911949],"aabb_xy":[[0.6803208276920621,1.0630398558362515],[0.6977167522734927,1.087289804451201]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_19","position":[0.21223686545729914,-2.0421718907400916,0.71338606911949],"aabb_xy":[[0.19473686632293194,-2.052051517777679],[0.22973686459166628,-2.0322922637025034]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_20","position":[0.605865140862359,1.349479248662138,0.71338606911949],"aabb_xy":[[0.6017292845296589,1.3119792492177813],[0.6100009971950593,1.3869792481064953]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_21","position":[-0.27332618600442504,0.10659869702781322,0.71338606911949],"aabb_xy":[[-0.28274366057428785,0.0971825198900942],[-0.26390871143456235,0.11601487416553226]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_22","position":[0.423744729417606,1.3540615064720614,0.71338606911949],"aabb_xy":[[0.4184071537516014,1.3290615055429216],[0.42908230508361056,1.3790615074012011]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[0.399505156989741,-1.4204156175810283,0.71338606911949],"aabb_xy":[[0.3095051575713701,-1.453791114425218],[0.4895051564081119,-1.3870401207368386]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_24","position":[-0.5016883997171916,-0.17752558737168123,0.71338606911949],"aabb_xy":[[-0.5402340925423926,-0.2160713584278699],[-0.46314270689199055,-0.13897981631549255]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_25","position":[-0.03242112435132671,-1.8820098701449406,0.71338606911949],"aabb_xy":[[-0.09642112352109666,-1.928776557263903],[0.03157887481844322,-1.835243183025978]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[0.5581073981930196,0.82790512514641,0.71338606911949],"aabb_xy":[[0.5540292402859699,0.8238241448981467],[0.5621855561000693,0.8319861053946733]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[0.6345384725206678,-1.2998216819578625,0.71338606911949],"aabb_xy":[[0.6193755995437308,-1.3149871392529815],[0.6497013454976049,-1.284656224662744]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.691010591138484,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7816.png","name":"7816"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7816.png","name":"7816"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3667.png","name":"3667"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9187.png","name":"9187"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7873.png","name":"7873"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4633.png","name":"4633"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":751.7833569333345,"rotation_z_degrees":52.62789176626144,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0007005771287247296,-0.007784389246865624,-0.014867630024434707]},{"name":"camera_2","offset_m":[0.0005749830839075452,-0.00953678746162698,-0.007872339872587593]},{"name":"camera_3","offset_m":[-0.008621531261281033,0.001772847652930093,-0.014400168463961017]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[8.811846808419108e-05,0.0016349316327975397,0.000651473947900375],"end_effector_yaw_offset_degrees":-0.09457152634660981},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001466768154973065,0.0019265859200632727,-0.0017126681096761892],"end_effector_yaw_offset_degrees":-0.5304861126509075},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001838927124093771,0.001581400457207689,-0.001593717627794736],"end_effector_yaw_offset_degrees":-0.823213468154752},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024790763837139276,0.0014053302891729983,-0.001506879453411405],"end_effector_yaw_offset_degrees":0.33437488619848943},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.767265850329178e-05,-0.000270143720410387,-0.0015479209354078893],"end_effector_yaw_offset_degrees":0.6777081051908052},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[5.601202629744494e-05,0.0015989525923133519,-0.0017541758516878892],"end_effector_yaw_offset_degrees":0.8327567676343408}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001346131043473402,-0.003582114481729793],"position_m":[0.13915386895652662,0.2311178855182702,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003625858777427775,-0.0021753105730790557],"position_m":[0.20997414122257224,-0.055875310573079054,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021627604324799196,-0.0008367386827314548],"position_m":[0.2512627604324799,-0.38423673868273145,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0009890481330633695,0.003850874251715438],"position_m":[0.35261095186693664,0.12105087425171544,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"17a89f8015bea14394033208dde7e9f549d41ed2b4c05a9bb6196d7faf698d13","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0045.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7816/tex_ceiling_textures_4633/tex_floor_textures_7873/tex_table_textures_3667/tex_wall_textures_9187","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6884895679644216207,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6884895679644216207,"visual_seed":6884895679644216207,"scene_id":"lab_003","finished_at":"2026-09-06T12:58:48"} +{"episode_id":"ep_000046","started_at":"2026-09-06T12:58:54","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_0","position":[-0.467688680780593,-0.4386001657338019,0.71338606911949],"aabb_xy":[[-0.48202310590675634,-0.45066038128834074],[-0.45335425565442944,-0.42653995017926305]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_1","position":[-0.2650678247348108,-1.5408923210510967,0.71338606911949],"aabb_xy":[[-0.3250678263777326,-1.592892470343041],[-0.20506782309188892,-1.4888921717591526]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_2","position":[0.46964058185095237,-2.4742417655371867,0.71338606911949],"aabb_xy":[[0.4477318997116013,-2.4961424323572774],[0.4915492639903034,-2.452341098717096]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[-0.5206064407332311,0.9295954634631398,0.71338606911949],"aabb_xy":[[-0.5278887571098946,0.8395954598536308],[-0.5133241243565673,1.0195954670726488]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_4","position":[-0.21286650121245487,1.4175671476512917,0.71338606911949],"aabb_xy":[[-0.24732884861059665,1.3830732652534685],[-0.17840415381431304,1.452061030049114]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_5","position":[-0.48421515968522844,1.6711793825021313,0.71338606911949],"aabb_xy":[[-0.5482151589793967,1.607193242133277],[-0.42021516039106016,1.7351655228709855]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.6215748552067246,-2.2657090219488736,0.71338606911949],"aabb_xy":[[0.5805569118203537,-2.315709022579831],[0.6625927985930955,-2.2157090213179162]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[0.4311419918049042,-0.937844393805878,0.71338606911949],"aabb_xy":[[0.4272281186094817,-0.9465934092124347],[0.4350558650003267,-0.9290953783993211]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[0.34790755119806405,-2.1711475075054096,0.71338606911949],"aabb_xy":[[0.3402832831078858,-2.178780731041954],[0.3555318192882423,-2.1635142839688664]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[0.5690414712439742,-1.2085730508038819,0.71338606911949],"aabb_xy":[[0.5321909233069867,-1.2460730516269156],[0.6058920191809619,-1.1710730499808482]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.4576821547220411,0.3737077106773872,0.71338606911949],"aabb_xy":[[0.454241478481984,0.3698462777030227],[0.46112283096209833,0.3775691436517517]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_11","position":[-0.16712384766666455,1.774543070804231,0.71338606911949],"aabb_xy":[[-0.20212384901814626,1.7541833348474098],[-0.13212384631518279,1.7949028067610515]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.39222123615480653,0.4829716683786569,0.71338606911949],"aabb_xy":[[0.3494545292753863,0.41897166495685434],[0.43498794303422667,0.5469716718004592]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_13","position":[-0.15722193371461857,1.5399174422487731,0.71338606911949],"aabb_xy":[[-0.16638181265849517,1.5333862242052358],[-0.14806205477074197,1.54644866029231]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.0037690950416181535,-1.6453787726668052,0.71338606911949],"aabb_xy":[[-0.046230904398577466,-1.6953466971511213],[0.05376909448181377,-1.5954108481824887]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_15","position":[-0.030990154524894398,1.0658158619935736,0.71338606911949],"aabb_xy":[[-0.09258091374888722,1.0018158638845265],[0.030600604699098415,1.1298158601026203]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[0.41383564090042824,1.5780828229490242,0.71338606911949],"aabb_xy":[[0.3638623468971678,1.5280828223944767],[0.4638089349036887,1.6280828235035714]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_17","position":[0.677361646207967,-0.07862337319623869,0.71338606911949],"aabb_xy":[[0.6398616477845666,-0.09178758716406932],[0.7148616446313673,-0.06545915922840806]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_18","position":[-0.5029661470031777,-0.33567903285826173,0.71338606911949],"aabb_xy":[[-0.5679661455602505,-0.36543156627214435],[-0.4379661484461048,-0.3059264994443791]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.3225779071536688,-2.545871828897467,0.71338606911949],"aabb_xy":[[-0.3306041777842948,-2.55462332387482],[-0.3145516365230428,-2.537120333920115]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_20","position":[0.5084443916595818,-2.357147185477787,0.71338606911949],"aabb_xy":[[0.4925598983942566,-2.3715001257766106],[0.5243288849249069,-2.342794245178963]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_21","position":[-0.04645268251539847,0.5755487593566162,0.71338606911949],"aabb_xy":[[-0.06388339759440498,0.5582766446927653],[-0.029021967436391963,0.5928208740204669]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_22","position":[-0.5020984298202538,0.4095343148238695,0.71338606911949],"aabb_xy":[[-0.5117300660406834,0.3998970020441605],[-0.49246679359982415,0.41917162760357835]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_23","position":[0.11285966340709486,-1.195037417679193,0.71338606911949],"aabb_xy":[[0.04785966230115156,-1.2200027907473212],[0.17785966451303814,-1.1700720446110646]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_24","position":[0.12664840153392565,-2.1031079229573604,0.71338606911949],"aabb_xy":[[0.1090700993449788,-2.120682412531466],[0.1442267037228725,-2.085533433383256]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_25","position":[-0.3437566791484176,0.7964766364357274,0.71338606911949],"aabb_xy":[[-0.3626410629169278,0.7775907116553747],[-0.3248722953799074,0.8153625612160803]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.4775408429522239,-1.6102862153606434,0.71338606911949],"aabb_xy":[[-0.52754011812066,-1.6602862166365908],[-0.42754156778378766,-1.5602862140846965]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_27","position":[-0.6241370825498208,-0.14052828582957133,0.71338606911949],"aabb_xy":[[-0.637008986050761,-0.22052828624340745],[-0.6112651790488807,-0.06052828541573518]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_28","position":[0.2038887538635309,1.6740694537970415,0.71338606911949],"aabb_xy":[[0.17011319467283792,1.6600309585838766],[0.23766431305422386,1.6881079490102064]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.690249318928156,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6279.png","name":"6279"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6279.png","name":"6279"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3039.png","name":"3039"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5294.png","name":"5294"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2442.png","name":"2442"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5820.png","name":"5820"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":810.0902321736793,"rotation_z_degrees":239.46440530696535,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005772356058167297,0.003219339316834005,0.01545970809359681]},{"name":"camera_2","offset_m":[0.015772121396280526,0.004120831424861891,-0.001569946620975201]},{"name":"camera_3","offset_m":[0.01653287510607195,-0.004457409737989226,-0.010516103081535118]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013684810184002678,0.0004145662929519057,-0.0012633809943551802],"end_effector_yaw_offset_degrees":0.5793194973898692},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012581846885525443,-0.0006035097308455765,0.0006617654449390551],"end_effector_yaw_offset_degrees":-0.4178065508168174},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009544348704187025,0.0017169860597721024,-0.0009189879196946432],"end_effector_yaw_offset_degrees":0.11376749191023428},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004424869027919091,-0.000686963990289688,0.00010631708266193403],"end_effector_yaw_offset_degrees":0.33445989090770545},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019709838172775945,-0.0012990887580045976,0.0007542537428121407],"end_effector_yaw_offset_degrees":-0.029880242092755305},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001677337087818068,-0.0018663650937554635,0.0006415428063086953],"end_effector_yaw_offset_degrees":0.8008684275112172}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00416505098003641,-0.0006334814947565092],"position_m":[0.1363349490199636,0.2340665185052435,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0001438606267105593,-0.004752758037575576],"position_m":[0.21374386062671058,-0.058452758037575575,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000305204392693814,-0.00223787957743819],"position_m":[0.2494052043926938,-0.3856378795774382,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0028617900046800744,0.0047707432049900024],"position_m":[0.3564617900046801,0.12197074320499,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4b04115a0411f4f4c962bc2cc564565f9f7f77b970baa1b39395d6b3fc384e5a","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0046.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_6279/tex_ceiling_textures_5820/tex_floor_textures_2442/tex_table_textures_3039/tex_wall_textures_5294","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3315162057627685703,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3315162057627685703,"visual_seed":3315162057627685703,"scene_id":"lab_003","finished_at":"2026-09-06T13:04:47"} +{"episode_id":"ep_000047","started_at":"2026-09-06T13:04:52","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_0","position":[-0.523428692773618,-0.8119674076001315,0.71338606911949],"aabb_xy":[[-0.5644466361599889,-0.8619674082310889],[-0.48241074938724715,-0.7619674069691742]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[-0.5728351361162407,-1.4134423065727677,0.71338606911949],"aabb_xy":[[-0.6228082016487562,-1.4634423063853008],[-0.5228620705837252,-1.363442306760235]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_2","position":[-0.049006533956921894,-0.38563753158468694,0.71338606911949],"aabb_xy":[[-0.07150653396707018,-0.39973375122429017],[-0.02650653394677361,-0.3715413119450836]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.47920465632240206,0.21582453406519475,0.71338606911949],"aabb_xy":[[-0.4924356018570833,0.20259711504319527],[-0.4659737107877207,0.22905195308719412]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_4","position":[0.2540830895173717,1.7573643777151964,0.71338606911949],"aabb_xy":[[0.24351560985927267,1.7468193476021878],[0.2646505691754707,1.767909407828205]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.6290160059414036,-2.0680690514605353,0.71338606911949],"aabb_xy":[[0.5738908003118127,-2.128069052901822],[0.6841412115709943,-2.0080690500192477]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_6","position":[0.12558871015887962,-0.9692099862405283,0.71338606911949],"aabb_xy":[[0.08808871005328665,-0.9760321480935094],[0.16308871026447255,-0.9623878243875471]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_7","position":[-0.6316084568348944,-1.7918234877030974,0.71338606911949],"aabb_xy":[[-0.649241292428422,-1.8094464337187204],[-0.6139756212413668,-1.7742005416874744]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.51734476345015,-2.230521294292184,0.71338606911949],"aabb_xy":[[-0.5398447632640524,-2.2349959106626645],[-0.49484476363624763,-2.2260466779217034]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_9","position":[0.6470471711605563,0.7994451746447306,0.71338606911949],"aabb_xy":[[0.6095471703685609,0.7930773336865407],[0.6845471719525518,0.8058130156029208]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.15367154486627443,-1.3109664416164133,0.71338606911949],"aabb_xy":[[0.08967154448874079,-1.3607117084672256],[0.21767154524380802,-1.261221174765601]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_11","position":[0.6716341939587585,-0.8273920609470053,0.71338606911949],"aabb_xy":[[0.6360050380587987,-0.8630247277038583],[0.7072633498587182,-0.7917593941901524]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_12","position":[0.33240061152970113,-1.3104655290559168,0.71338606911949],"aabb_xy":[[0.3223189044511276,-1.3904655269480313],[0.34248231860827455,-1.230465531163802]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_13","position":[-0.43162611259568545,-2.3729589913809135,0.71338606911949],"aabb_xy":[[-0.5116199361742437,-2.452958993973755],[-0.35163228901712723,-2.292958988788072]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_14","position":[0.5473097333698593,-0.29502365857743973,0.71338606911949],"aabb_xy":[[0.5402694234363224,-0.37502365797711124],[0.5543500433033964,-0.2150236591777684]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[-0.16047993128956073,-1.7613062137899171,0.71338606911949],"aabb_xy":[[-0.1939590985506017,-1.7947853271610246],[-0.1270007640285198,-1.7278271004188106]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.30212038616151304,-1.1678198283739747,0.71338606911949],"aabb_xy":[[-0.366120385331283,-1.2145865154929372],[-0.23812038699174312,-1.1210531412550122]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_17","position":[-0.5754577402736452,-0.5845479959822169,0.71338606911949],"aabb_xy":[[-0.6123082882106328,-0.6220479968052506],[-0.5386071923366575,-0.5470479951591831]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_18","position":[0.30162169642835335,-1.698380428594286,0.71338606911949],"aabb_xy":[[0.2797319488394125,-1.7883804258835352],[0.3235114440172941,-1.608380431305037]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_19","position":[0.24359330203022256,0.785364289268415,0.71338606911949],"aabb_xy":[[0.19750821077549108,0.7213642920158598],[0.28967839328495404,0.8493642865209701]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_20","position":[0.6286158637273527,-1.2305468176881755,0.71338606911949],"aabb_xy":[[0.6053340215292213,-1.3155468189854034],[0.651897705925484,-1.1455468163909472]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.12798393178100653,-0.7260762196915616,0.71338606911949],"aabb_xy":[[0.06798393152960538,-0.7803575447280261],[0.18798393203240774,-0.6717948946550968]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.026354238737298474,0.7092199723546155,0.71338606911949],"aabb_xy":[[-0.031935910371427234,0.69671997253684],[-0.020772567103169715,0.721719972172391]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[-0.2785044749433471,-1.5215661109514265,0.71338606911949],"aabb_xy":[[-0.28620766561742417,-1.5292754816501641],[-0.2708012842692701,-1.5138567402526883]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[-0.14425407126970602,-1.4195821180705477,0.71338606911949],"aabb_xy":[[-0.22925406968712925,-1.5044564135328329],[-0.05925407285228279,-1.334707822608263]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_25","position":[0.29140729153551004,1.2285476336709555,0.71338606911949],"aabb_xy":[[0.22640728889771655,1.1770680349715086],[0.3564072941733035,1.2800272323704025]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.541419990089538,-0.4461185039033704,0.71338606911949],"aabb_xy":[[-0.5538873481992738,-0.4585838285366938],[-0.5289526319798025,-0.4336531792700468]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[0.0033813483569261615,-2.3707699283472556,0.71338606911949],"aabb_xy":[[-0.005912269880224419,-2.4082699268353895],[0.012674966594076742,-2.3332699298591217]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_28","position":[-0.5996136138752264,0.08334824829671161,0.71338606911949],"aabb_xy":[[-0.6060274275184112,0.07693842804904326],[-0.5931998002320413,0.08975806854437994]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6937869619545044,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8557.png","name":"8557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8557.png","name":"8557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8109.png","name":"8109"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3796.png","name":"3796"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2508.png","name":"2508"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7839.png","name":"7839"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":622.5828843137259,"rotation_z_degrees":145.35902671698227,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013066410269704409,0.012017361335476134,-0.015051265811039896]},{"name":"camera_2","offset_m":[-0.006206071993056228,-0.005089944641021931,0.009937007679572788]},{"name":"camera_3","offset_m":[0.01696289037261876,0.01946881831167487,0.003554197004674471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00042082192216142734,-0.0011497688354832904,0.0005796295581785705],"end_effector_yaw_offset_degrees":0.7580646813262109},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0016058264737616379,0.00136143812247321,0.0009508959518124789],"end_effector_yaw_offset_degrees":0.7647505181186716},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013641329388096343,-0.0016308127018671828,-0.00039771312877825917],"end_effector_yaw_offset_degrees":-0.5068915990349714},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00029977406351703803,-0.00043062543002678005,0.00026729015338467204],"end_effector_yaw_offset_degrees":-0.5360591232593739},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014069457859272592,-0.0007388196946282082,-0.0017853531667644403],"end_effector_yaw_offset_degrees":0.1891140623867249},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0008752003530496238,0.0006056554182947045,-0.0008288034444510614],"end_effector_yaw_offset_degrees":0.36678650432412785}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0002760170026409499,0.0017408635878661972],"position_m":[0.14022398299735905,0.2364408635878662,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019682034832660053,0.0041017301172826546],"position_m":[0.21556820348326602,-0.049598269882717344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004159332238954095,-0.002844992321465004],"position_m":[0.2532593322389541,-0.38624499232146503,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.000988149746736667,-0.0022459387943389642],"position_m":[0.3545881497467367,0.11495406120566104,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"641fe21dcef09f7a24ac569d20f561600aaa32fe6a77e4f5b5be06e26a34d507","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8557/tex_ceiling_textures_7839/tex_floor_textures_2508/tex_table_textures_8109/tex_wall_textures_3796","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9054060353997176068,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9054060353997176068,"visual_seed":9054060353997176068,"scene_id":"lab_003","finished_at":"2026-09-06T13:10:45"} +{"episode_id":"ep_000048","started_at":"2026-09-06T13:10:50","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[-0.6435521332735028,1.214897880247607,0.71338606911949],"aabb_xy":[[-0.6610521335328394,1.2008063380588343],[-0.6260521330141662,1.2289894224363795]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_1","position":[0.21317486630634563,1.604800415650105,0.71338606911949],"aabb_xy":[[0.20226909021878292,1.5248004192512759],[0.22408064239390835,1.6848004120489342]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[0.5126172736004959,-1.175563839622203,0.71338606911949],"aabb_xy":[[0.4326172703364828,-1.1891238719311163],[0.592617276864509,-1.1620038073132897]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_3","position":[0.19849315521745836,-0.6094380134256325,0.71338606911949],"aabb_xy":[[0.1184931572366733,-0.6170395543874845],[0.27849315319824336,-0.6018364724637806]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.45089240083317794,1.4518110664991943,0.71338606911949],"aabb_xy":[[-0.48822367735842054,1.4171580117043419],[-0.41356112430793535,1.4864641212940464]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[0.09942105386723754,1.3394356899469795,0.71338606911949],"aabb_xy":[[0.03542535647214094,1.2754356916462708],[0.16341675126233413,1.4034356882476882]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[0.13611531950618005,-1.767343646067323,0.71338606911949],"aabb_xy":[[0.12554783984808104,-1.7778886761803319],[0.14668279916427907,-1.7567986159543147]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[-0.4367672084069548,-0.47810668063746364,0.71338606911949],"aabb_xy":[[-0.4444703990810318,-0.4858160513362016],[-0.4290640177328777,-0.4703973099387256]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_8","position":[0.5549389613783817,-1.6644955738705225,0.71338606911949],"aabb_xy":[[0.5049656673751212,-1.7144955744250696],[0.6049122553816421,-1.614495573315975]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_9","position":[0.6404495815174125,-2.273871476967988,0.71338606911949],"aabb_xy":[[0.6054495823874568,-2.279616698043652],[0.6754495806473682,-2.268126255892324]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.06238419243139559,-2.132356155334389,0.71338606911949],"aabb_xy":[[-0.12238419268279677,-2.186637480370853],[-0.0023841921799944085,-2.078074830297924]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[0.424192066589997,1.6219410269667445,0.71338606911949],"aabb_xy":[[0.3866920654052041,1.6175228042706837],[0.4616920677747897,1.6263592496628048]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.3037225945162027,1.6657196849601328,0.71338606911949],"aabb_xy":[[-0.31632529365327916,1.6531242887352675],[-0.29111989537912625,1.6783150811849985]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[0.10795492676596274,-1.5972958793771854,0.71338606911949],"aabb_xy":[[0.08789651515272245,-1.6173609662863433],[0.12801333837920303,-1.577230792468028]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[-0.3205136748127933,-1.0891169447642908,0.71338606911949],"aabb_xy":[[-0.37049248332310913,-1.1391169447700094],[-0.27053486630247736,-1.0391169447585717]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.6203036427897423,-0.5484477952660853,0.71338606911949],"aabb_xy":[[-0.657337752217802,-0.5828250025997948],[-0.5832695333616825,-0.5140705879323759]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.10918741891339645,1.7916904240612053,0.71338606911949],"aabb_xy":[[0.01918742031892652,1.7754398377477842],[0.1991874175078664,1.8079410103746263]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.5706762306105859,-1.9278907247996973,0.71338606911949],"aabb_xy":[[0.5481762303670705,-1.9400953594594692],[0.5931762308541013,-1.9156860901399253]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_18","position":[0.3583109175657362,-1.299355514575854,0.71338606911949],"aabb_xy":[[0.29331091753143346,-1.3460561912561813],[0.4233109176000389,-1.2526548378955267]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_19","position":[0.3725591400466395,0.9129772829830398,0.71338606911949],"aabb_xy":[[0.3185435437647394,0.8489772800907825],[0.42657473632853943,0.9769772858752969]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[0.418420133499237,-2.098416889347406,0.71338606911949],"aabb_xy":[[0.3955044206141872,-2.1213211864838293],[0.441335846384287,-2.0755125922109823]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_21","position":[0.6544430778075685,0.4555349612688908,0.71338606911949],"aabb_xy":[[0.6265980410269614,0.4247504625305792],[0.6822881145881756,0.48631946000720255]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_22","position":[-0.017277415900478488,1.6421584182198026,0.71338606911949],"aabb_xy":[[-0.09727741286351765,1.5650827765760291],[0.06272258106256068,1.719234059863576]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_23","position":[-0.35653035900343033,-0.7831214821814778,0.71338606911949],"aabb_xy":[[-0.42053036091577267,-0.8390326314394884],[-0.292530357091088,-0.7272103329234675]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[0.550299495843044,1.5176651153307632,0.71338606911949],"aabb_xy":[[0.5002994964028483,1.4676971908464465],[0.6002994952832396,1.567633039815079]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.05560452196189125,-1.484395058042749,0.71338606911949],"aabb_xy":[[-0.07806929193329637,-1.5068950589216095],[-0.03313975199048613,-1.4618950571638885]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_26","position":[-0.49502541682538453,1.3440177120596646,0.71338606911949],"aabb_xy":[[-0.5030617515266693,1.3359795927552478],[-0.4869890821240997,1.3520558313640814]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_27","position":[-0.5958435320270699,-1.5572690318547753,0.71338606911949],"aabb_xy":[[-0.6458165975595853,-1.6072690316673086],[-0.5458704664945544,-1.5072690320422428]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[-0.43122296700510127,-2.304816171576819,0.71338606911949],"aabb_xy":[[-0.46801760013000754,-2.341722046673401],[-0.394428333880195,-2.2679102964802365]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_29","position":[0.19399917686123747,-1.3357463787174346,0.71338606911949],"aabb_xy":[[0.17149917733753003,-1.358242326168055],[0.21649917638494484,-1.3132504312668134]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_30","position":[-0.3468642383702874,0.06306113800635327,0.71338606911949],"aabb_xy":[[-0.37726234946943094,0.03265423600468375],[-0.31646612727114376,0.09346804000802277]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_31","position":[0.30624037017197514,1.6319875852772374,0.71338606911949],"aabb_xy":[[0.28124037023945725,1.625104917056314],[0.33124037010449303,1.6388702534981607]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_32","position":[-0.12111998363156828,-0.8971501461105098,0.71338606911949],"aabb_xy":[[-0.15611998498305002,-0.9175098820673306],[-0.08611998228008655,-0.876790410153689]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6866910393636979,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9582.png","name":"9582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5626.png","name":"5626"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1444.png","name":"1444"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1660.png","name":"1660"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5601.png","name":"5601"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":726.3120638057421,"rotation_z_degrees":353.08625694489984,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013770317925513819,0.0016641125267277956,0.003131152950046401]},{"name":"camera_2","offset_m":[0.009111013219118568,0.005687821219648566,-0.0014630385404814684]},{"name":"camera_3","offset_m":[0.0013820609254764013,-0.0049775933772515,-0.00598085847208556]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023324279930307754,0.00036666488415573045,-0.0015364536693024463],"end_effector_yaw_offset_degrees":0.2953336104300677},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00020315367833321748,-0.0018105050386985001,-0.0009010013439452807],"end_effector_yaw_offset_degrees":0.6240910291901025},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005823434338408143,-0.0014045098143855728,0.00014973999406647006],"end_effector_yaw_offset_degrees":0.9318599900693527},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006240264140904652,0.0017932684790227423,0.00022077747641449956],"end_effector_yaw_offset_degrees":0.39205726211048075},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015356023786285999,-0.0006773937562051912,-0.0006460527176101851],"end_effector_yaw_offset_degrees":0.38091188158433376},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008518643691989398,-0.0018346111608910168,-0.0017966047351005803],"end_effector_yaw_offset_degrees":-0.7871608837083022}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013234861946134517,-0.004549394949129526],"position_m":[0.14182348619461346,0.23015060505087045,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008876717659424107,-0.004067140989667627],"position_m":[0.2127123282340576,-0.05776714098966763,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013819732928999672,0.0016331006280549676],"position_m":[0.24771802670710003,-0.3817668993719451,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014304725082722848,0.0002759944451354232],"position_m":[0.3550304725082723,0.11747599444513543,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e44fbe7c7b18fdcf8f2f725b86c12b41707ad228cf1e771370a5dd89145f09b9","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0048.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_9582/tex_ceiling_textures_5601/tex_floor_textures_1660/tex_table_textures_5626/tex_wall_textures_1444","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":9081832130137460299,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":9081832130137460299,"visual_seed":9081832130137460299,"scene_id":"lab_003","finished_at":"2026-09-06T13:16:35"} +{"episode_id":"ep_000049","started_at":"2026-09-06T13:16:44","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_0","position":[-0.21490386100812636,-1.0111042571313567,0.71338606911949],"aabb_xy":[[-0.25240386130030124,-1.01514573253196],[-0.17740386071595157,-1.007062781730753]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_1","position":[0.6777250136739621,1.0857110975507767,0.71338606911949],"aabb_xy":[[0.6527250141222236,1.0755686136856417],[0.7027250132257006,1.0958535814159112]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_2","position":[-0.02627358813090841,-2.117614815166242,0.71338606911949],"aabb_xy":[[-0.03236821601902673,-2.1261842097179113],[-0.020178960242790093,-2.109045420614574]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_3","position":[-0.28081458888449534,-1.4847762450203073,0.71338606911949],"aabb_xy":[[-0.3708145883028662,-1.5181517418644972],[-0.1908145894661244,-1.4514007481761177]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.23000546564267532,-1.7877681303110495,0.71338606911949],"aabb_xy":[[0.1800054669967541,-1.837687673970512],[0.2800054642885965,-1.7378485866515871]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_5","position":[0.6446953984028785,-2.1376240787473577,0.71338606911949],"aabb_xy":[[0.5846953981514773,-2.191905403783822],[0.7046953986542797,-2.0833427537108924]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.2756285993038866,-1.5590190537987405,0.71338606911949],"aabb_xy":[[0.266914630253952,-1.5815190544579285],[0.284342568353821,-1.536519053139552]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[-0.646819436554614,-0.4436504636116161,0.71338606911949],"aabb_xy":[[-0.6701012787527453,-0.5286504649088442],[-0.6235375943564826,-0.358650462314388]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[0.611573089512341,0.610637169026484,0.71338606911949],"aabb_xy":[[0.5987011860114008,0.5306371686126478],[0.624444993013281,0.69063716944032]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_9","position":[-0.5834921699977539,0.24054100057529215,0.71338606911949],"aabb_xy":[[-0.6684921686898285,0.20855513718041327],[-0.49849217130567924,0.272526863970171]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_10","position":[-0.4072976242028984,0.7161871028075404,0.71338606911949],"aabb_xy":[[-0.4712976205984714,0.6522238143888068],[-0.34329762780732526,0.7801503912262739]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_11","position":[-0.04296129328910003,-0.43487562016620007,0.71338606911949],"aabb_xy":[[-0.04780488805033001,-0.4397272726451843],[-0.03811769852787006,-0.43002396768721607]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[0.08898112920948742,-2.4871960065472183,0.71338606911949],"aabb_xy":[[0.023981128208986888,-2.537982371701893],[0.15398113020998794,-2.436409641392543]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[-0.4489145125881686,-1.232418569604426,0.71338606911949],"aabb_xy":[[-0.4739145118601309,-1.2487639332005884],[-0.42391451331620633,-1.2160732060082637]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_14","position":[-0.31216707604519184,0.9594667289722181,0.71338606911949],"aabb_xy":[[-0.3346670762887073,0.9472620943124462],[-0.2896670758016765,0.9716713636319901]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[0.44186495223756506,-1.2658740812351013,0.71338606911949],"aabb_xy":[[0.4286340067028837,-1.2791015002571005],[0.4550958977722463,-1.2526466622131016]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_16","position":[-0.49587573086097025,-2.2726154670714385,0.71338606911949],"aabb_xy":[[-0.550868942198107,-2.327615467410232],[-0.4408825195238335,-2.217615466732645]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_17","position":[0.4519191224887871,-2.3052607699622176,0.71338606911949],"aabb_xy":[[0.3919191218927709,-2.360073242507441],[0.5119191230848033,-2.250448297416994]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[0.3333555148551699,-2.360389002202943,0.71338606911949],"aabb_xy":[[0.32631406390442225,-2.367415753940737],[0.34039696580591744,-2.3533622504651484]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_19","position":[0.4656067627339373,1.5540597237047762,0.71338606911949],"aabb_xy":[[0.44797392714040973,1.5364367776891532],[0.4832395983274649,1.5716826697203992]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.41351338394994874,1.1522635700746773,0.71338606911949],"aabb_xy":[[0.38967716630934374,1.0622635692661908],[0.43734960159055386,1.2422635708831637]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[0.5235523901239696,1.3960953453787495,0.71338606911949],"aabb_xy":[[0.45955238942050025,1.3500769629058287],[0.5875523908274389,1.4421137278516707]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_22","position":[-0.6586449251272256,-0.8811309409487575,0.71338606911949],"aabb_xy":[[-0.6936449242571812,-0.8868761620244215],[-0.6236449259972698,-0.8753857198730933]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[-0.31482513863915923,1.1639176507957165,0.71338606911949],"aabb_xy":[[-0.32659332543381675,1.0789176508904952],[-0.3030569518445017,1.2489176507009383]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_24","position":[-0.6221503873001245,-1.8208709576208464,0.71338606911949],"aabb_xy":[[-0.6555905624961439,-1.8543145834517765],[-0.5887102121041047,-1.7874273317899163]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_25","position":[0.6062469630413434,1.6319485769056983,0.71338606911949],"aabb_xy":[[0.5422469606985417,1.5870077256615658],[0.6702469653841449,1.6768894281498308]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_26","position":[-0.6506094023707892,0.7270946619474743,0.71338606911949],"aabb_xy":[[-0.6843849615614821,0.713056166734309],[-0.6168338431800962,0.7411331571606391]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_27","position":[-0.45443282640278615,-1.8443173776837907,0.71338606911949],"aabb_xy":[[-0.5244328228127477,-1.8647553133354724],[-0.38443282999282424,-1.823879442032109]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6918594259290339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8467.png","name":"8467"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8467.png","name":"8467"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1009.png","name":"1009"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/45.png","name":"45"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2404.png","name":"2404"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1772.png","name":"1772"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.8871626615088,"rotation_z_degrees":97.63298958193104,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011451644418983362,-0.0054373273453322355,0.006158353460594762]},{"name":"camera_2","offset_m":[0.0022395211721696236,0.010896449756589998,0.006721358182255006]},{"name":"camera_3","offset_m":[-0.00029871902628359273,0.002913257993706727,-0.0021969854953792743]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004185809902578089,0.0007123402212892561,-0.0011559397391797447],"end_effector_yaw_offset_degrees":0.6636631330927427},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00017703265334871425,0.0012489478022265008,-0.001015091042841488],"end_effector_yaw_offset_degrees":-0.6789050571617783},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0004300120186949705,-0.0007515742372039757,-0.0008765086829073221],"end_effector_yaw_offset_degrees":0.9519331538736853},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009831496712633396,0.00010879538214311237,-0.000371317150448931],"end_effector_yaw_offset_degrees":0.6471655903078279},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00032791419197107305,0.0017827502044777325,-0.0007586735546932558],"end_effector_yaw_offset_degrees":0.13938004504996715},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000991066681851102,4.944926346142067e-05,-0.0008827776415080307],"end_effector_yaw_offset_degrees":-0.4684624235920216}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004471507719785231,0.00041086495586424056],"position_m":[0.1360284922802148,0.23511086495586422,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017569617474183343,0.0032751355123626777],"position_m":[0.21535696174741834,-0.05042486448763732,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003220594464437106,-0.0007815919811966221],"position_m":[0.2523205944644371,-0.3841815919811966,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035000288410156413,0.0019002731992120783],"position_m":[0.3500999711589844,0.11910027319921207,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0527a2536ecb6b1ea6b097bd417a46210a653d928c961bc03553c43d23d5e065","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0049.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8467/tex_ceiling_textures_1772/tex_floor_textures_2404/tex_table_textures_1009/tex_wall_textures_45","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2954840391715747791,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2954840391715747791,"visual_seed":2954840391715747791,"scene_id":"lab_003","finished_at":"2026-09-06T13:21:58"} +{"episode_id":"ep_000050","started_at":"2026-09-06T13:22:05","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[-0.24636962665652673,-1.3953066544774984,0.71338606911949],"aabb_xy":[[-0.25195129829065543,-1.4078066542952739],[-0.24078795502239797,-1.3828066546597229]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.21500048593095245,-1.8452849896724741,0.71338606911949],"aabb_xy":[[0.19750048568590303,-1.862784777512041],[0.2325004861760018,-1.8277852018329073]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_2","position":[0.009069593791184216,1.623333240102292,0.71338606911949],"aabb_xy":[[-0.025930405338771445,1.6175880190266279],[0.04406959292113988,1.629078461177956]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.004684618748881708,-2.3413610579735478,0.71338606911949],"aabb_xy":[[-0.012815380385485462,-2.351240685011135],[0.022184617883248877,-2.3314814309359595]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_4","position":[0.12994128109780534,-1.5683739855352161,0.71338606911949],"aabb_xy":[[0.07994128007867006,-1.6048402012730443],[0.1799412821169406,-1.5319077697973884]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[-0.11944134809090667,0.7107538212631739,0.71338606911949],"aabb_xy":[[-0.13701965027985352,0.693179331689069],[-0.10186304590195984,0.7283283108372788]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_6","position":[0.059604340916069476,-1.291406178211058,0.71338606911949],"aabb_xy":[[0.037695658776718426,-1.3133068450311487],[0.08151302305542052,-1.2695055113909672]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_7","position":[0.255103677231168,1.1333806592532754,0.71338606911949],"aabb_xy":[[0.17510367396715487,1.119820626944362],[0.33510368049518113,1.1469406915621887]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[0.47308187897274245,1.188059417478458,0.71338606911949],"aabb_xy":[[0.43558187915570884,1.1834212061673162],[0.510581878789776,1.1926976287895998]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_9","position":[-0.36571724469514744,-2.0489668918415522,0.71338606911949],"aabb_xy":[[-0.4157122556545995,-2.0989668908771444],[-0.3157222337356954,-1.998966892805961]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_10","position":[-0.5125489972520416,0.6934006940142905,0.71338606911949],"aabb_xy":[[-0.5300956921681607,0.6559006924500391],[-0.4950023023359228,0.7309006955785416]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.31594653476976603,1.1794439005904418,0.71338606911949],"aabb_xy":[[-0.3214044804067861,1.0994438972827827],[-0.31048858913274596,1.259443903898101]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[0.3038071859856324,-2.485077700451051,0.71338606911949],"aabb_xy":[[0.2588145992671819,-2.5300776997254997],[0.34879977270408274,-2.440077701176602]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_13","position":[-0.2032665550097832,1.50242856869805,0.71338606911949],"aabb_xy":[[-0.2375634660275238,1.4681316824881085],[-0.16896964399204253,1.5367254549079912]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_14","position":[0.2664041506876583,1.4036305858194909,0.71338606911949],"aabb_xy":[[0.18640414852489579,1.3236754021933472],[0.34640415285042075,1.4835857694456345]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_15","position":[0.3243857386146167,0.6806571782736639,0.71338606911949],"aabb_xy":[[0.3126175518199592,0.5956571783684423],[0.33615392540927425,0.7656571781788856]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.27297184686662246,-2.1942823537259106,0.71338606911949],"aabb_xy":[[0.22308914998892626,-2.2442823529721854],[0.32285454374431866,-2.144282354479636]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[-0.47949901272248074,1.7456082294474684,0.71338606911949],"aabb_xy":[[-0.5019990129659962,1.733403594787697],[-0.45699901247896546,1.7578128641072408]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_18","position":[-0.47493881639249486,-0.845997946890688,0.71338606911949],"aabb_xy":[[-0.524923052100672,-0.8959979457041835],[-0.4249545806843176,-0.7959979480771923]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_19","position":[0.657179648498756,1.3410560509357152,0.71338606911949],"aabb_xy":[[0.5931796468207586,1.292538659456401],[0.7211796501767533,1.3895734424150294]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_20","position":[-0.6198733550135479,0.7114908296671403,0.71338606911949],"aabb_xy":[[-0.6285713173042632,0.6993658553596656],[-0.6111753927228326,0.723615803974615]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_21","position":[0.6611656389638845,0.5520498233379789,0.71338606911949],"aabb_xy":[[0.6189812248030537,0.48804982306076783],[0.7033500531247152,0.6160498236151902]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_22","position":[-0.21205402299105142,-0.8329751887408618,0.71338606911949],"aabb_xy":[[-0.22121390193492801,-0.8395064067843989],[-0.20289414404717482,-0.8264439706973248]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.29979250070828134,-1.5523505625808318,0.71338606911949],"aabb_xy":[[0.2647925007317855,-1.5618151786284482],[0.3347925006847772,-1.542885946533215]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_24","position":[0.22372435782374755,-0.6251431127448648,0.71338606911949],"aabb_xy":[[0.15972435865397763,-0.6719097998638272],[0.2877243569935175,-0.5783764256259022]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_25","position":[0.6433389213763421,0.34208268131037567,0.71338606911949],"aabb_xy":[[0.6254698136218866,0.32824977333316474],[0.6612080291307976,0.3559155892875866]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_26","position":[-0.033961284819653104,-2.081196999313492,0.71338606911949],"aabb_xy":[[-0.05307359217763197,-2.100331778190734],[-0.01484897746167424,-2.0620622204362498]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_27","position":[-0.11143961442241668,-1.120824137858681,0.71338606911949],"aabb_xy":[[-0.20112669073053213,-1.2108241381131315],[-0.021752538114301223,-1.0308241376042304]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_28","position":[-0.5026150263955331,-1.8790933054817816,0.71338606911949],"aabb_xy":[[-0.5276150256674954,-1.8954386690779441],[-0.4776150271235709,-1.8627479418856194]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_29","position":[-0.2574624614867301,-0.23665783238293692,0.71338606911949],"aabb_xy":[[-0.3214581588818266,-0.3006578306836456],[-0.19346676409163344,-0.1726578340822282]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_30","position":[-0.5536262456391333,-2.336861950706914,0.71338606911949],"aabb_xy":[[-0.6236262420490949,-2.357299886358595],[-0.48362624922917136,-2.3164240150552318]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_31","position":[-0.11655311914108224,-1.4365313431330784,0.71338606911949],"aabb_xy":[[-0.12740472538995787,-1.4473906338607294],[-0.10570151289220667,-1.4256720524054274]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[0.6385685852773941,1.077159677230871,0.71338606911949],"aabb_xy":[[0.5745685833650519,1.0212485279728607],[0.7025685871897366,1.1330708264888816]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_33","position":[0.06439478739682925,-1.8687967109915045,0.71338606911949],"aabb_xy":[[0.054313080318255755,-1.948796708883619],[0.07447649447540271,-1.7887967130993898]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6882542316966642,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/424.png","name":"424"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/424.png","name":"424"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1549.png","name":"1549"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3366.png","name":"3366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3034.png","name":"3034"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9437.png","name":"9437"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":631.26383349563,"rotation_z_degrees":67.9767766171563,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0046889442318025325,-0.013602907623383419,0.018653539993259662]},{"name":"camera_2","offset_m":[-0.01778489448232534,0.017816700460596743,0.008498450133460341]},{"name":"camera_3","offset_m":[0.015425055849412592,-0.011006480365630402,0.019472105959642817]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019984028033213316,-0.00011540687772026558,-0.0012100355204786952],"end_effector_yaw_offset_degrees":-0.43311066311934954},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0014648656592967792,0.0006671390805017335,0.001824701423734716],"end_effector_yaw_offset_degrees":0.5946967270938293},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0002585479820631357,-0.0005307365760256718,0.0018987556572804373],"end_effector_yaw_offset_degrees":-0.6581503355585958},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018545195100754877,0.0016423995877932157,0.0005781463784178252],"end_effector_yaw_offset_degrees":0.6274350433690159},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005258516491299988,0.0004724321193942771,9.885259862791804e-05],"end_effector_yaw_offset_degrees":0.10096960462686089},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[8.602396756977014e-05,-0.0015932174894202579,0.0008683309190645927],"end_effector_yaw_offset_degrees":0.7460481267933992}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004925258503766912,-0.0043729785439782475],"position_m":[0.1355747414962331,0.23032702145602174,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004253291950844555,0.002548870658728497],"position_m":[0.20934670804915545,-0.0511511293412715,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021682043960936414,0.004150812232522306],"position_m":[0.25126820439609365,-0.37924918776747774,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010861977341066224,-0.001581744488179152],"position_m":[0.3525138022658934,0.11561825551182085,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cab1e1d5b6eefc3a7d4061d50f60d304d728f6a22df293a740a2bebb0c7cf46b","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0050.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_424/tex_ceiling_textures_9437/tex_floor_textures_3034/tex_table_textures_1549/tex_wall_textures_3366","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1499034602391522521,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1499034602391522521,"visual_seed":1499034602391522521,"scene_id":"lab_003","finished_at":"2026-09-06T13:28:54"} +{"episode_id":"ep_000051","started_at":"2026-09-06T13:29:00","dimensions":{"distractor":{"count":29,"items":[{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_0","position":[-0.07310770012054213,-1.5081820549453466,0.71338606911949],"aabb_xy":[[-0.08318940719911559,-1.588182052837461],[-0.06302599304196864,-1.4281820570532318]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_1","position":[0.20339001699550252,1.5864285171722625,0.71338606911949],"aabb_xy":[[0.16991084973446158,1.552949403801156],[0.23686918425654346,1.61990763054337]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_2","position":[-0.4397647853051719,-1.3391384931032206,0.71338606911949],"aabb_xy":[[-0.5037647860086412,-1.3851568755761419],[-0.3757647846017026,-1.2931201106302999]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[0.6485767311177475,0.950351306776168,0.71338606911949],"aabb_xy":[[0.5845767338320988,0.908844587823324],[0.7125767284033961,0.9918580257290119]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_4","position":[-0.2129750797682426,-0.8016194011859297,0.71338606911949],"aabb_xy":[[-0.2669906760501426,-0.8656194040781868],[-0.15895948348634256,-0.7376193982936725]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[-0.014087359764029639,-1.0855176966152116,0.71338606911949],"aabb_xy":[[-0.07808736181376164,-1.1256121797045195],[0.04991264228570236,-1.0454232135259036]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_6","position":[0.4767205729028492,1.077770295289481,0.71338606911949],"aabb_xy":[[0.43172057143662046,1.0327704384280005],[0.5217205743690781,1.1227701521509619]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.6564063593116143,-0.7619058429227046,0.71338606911949],"aabb_xy":[[0.6229661841155947,-0.7953494687536345],[0.6898465345076339,-0.7284622170917744]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[-0.16354781975555444,-0.6130523501655507,0.71338606911949],"aabb_xy":[[-0.22754782166789678,-0.6689634994235611],[-0.0995478178432121,-0.5571412009075403]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[0.4716046387477637,-2.0864326745785746,0.71338606911949],"aabb_xy":[[0.4351088181204849,-2.1229166170053317],[0.5081004593750424,-2.0499487321518166]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_10","position":[0.38497342932718914,-0.5757092123688672,0.71338606911949],"aabb_xy":[[0.354489179200159,-0.6257092121503631],[0.4154576794542193,-0.5257092125873712]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[-0.5372681918483373,1.4236949883463974,0.71338606911949],"aabb_xy":[[-0.5524403611299706,1.408526131418194],[-0.522096022566704,1.4388638452746008]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[-0.3790084265672862,0.5438290702923982,0.71338606911949],"aabb_xy":[[-0.40400842583924845,0.5274837066962359],[-0.3540084272953239,0.5601744338885606]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_13","position":[-0.28805412883717363,-2.3066954744271695,0.71338606911949],"aabb_xy":[[-0.3379368257148698,-2.3566954736734442],[-0.23817143195947743,-2.2566954751808947]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_14","position":[0.1256025640480295,-2.308125266595032,0.71338606911949],"aabb_xy":[[0.08810256286323666,-2.3125434892910914],[0.16310256523282224,-2.3037070438989704]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_15","position":[0.5747836330249043,-2.502318207808642,0.71338606911949],"aabb_xy":[[0.524783634378983,-2.5522377514681045],[0.6247836316708254,-2.4523986641491797]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.36510588734958754,1.5629078303127524,0.71338606911949],"aabb_xy":[[-0.37525890290373687,1.5268382887400116],[-0.35495287179543816,1.5989773718854923]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_17","position":[-0.5234223612412477,-2.213250048898842,0.71338606911949],"aabb_xy":[[-0.6131094375493632,-2.3032500491532923],[-0.4337352849331323,-2.1232500486443913]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_18","position":[-0.6219621809953764,1.2385401445486104,0.71338606911949],"aabb_xy":[[-0.6272997566613809,1.2135401436194706],[-0.6166246053293718,1.2635401454777502]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_19","position":[-0.6660923580095524,0.33878357909508816,0.71338606911949],"aabb_xy":[[-0.6873703661530245,0.27378357676901505],[-0.64481434986608,0.40378358142116116]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_20","position":[-0.4092438003062226,-0.2684917779503042,0.71338606911949],"aabb_xy":[[-0.46424379850796743,-0.3090137445767418],[-0.35424380210447776,-0.22796981132386665]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[0.4095058650881136,-1.6783752878887523,0.71338606911949],"aabb_xy":[[0.39703850697837795,-1.690840612522076],[0.42197322319784925,-1.665909963255429]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[0.3116102071718325,1.7494923863974496,0.71338606911949],"aabb_xy":[[0.2941102737378492,1.731992386477215],[0.32911014060581595,1.7669923863176842]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_23","position":[0.6830088340147789,0.5408606512372711,0.71338606911949],"aabb_xy":[[0.6653332034261804,0.5231804349578683],[0.7006844646033771,0.5585408675166738]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_24","position":[-0.3992273332132257,0.7531925792727554,0.71338606911949],"aabb_xy":[[-0.40455984786783866,0.7478682510275199],[-0.3938948185586127,0.758516907517991]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_25","position":[0.12106345234686744,-0.8868052407572744,0.71338606911949],"aabb_xy":[[0.11378113597020377,-0.9768052443667832],[0.12834576872353107,-0.7968052371477652]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[-0.6761446582683448,-1.3888747296410302,0.71338606911949],"aabb_xy":[[-0.6869851364948597,-1.406061010931679],[-0.6653041800418299,-1.3716884483503815]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_27","position":[0.3735198511257156,0.7999471391430926,0.71338606911949],"aabb_xy":[[0.336188574600473,0.7652940843482404],[0.4108511276509582,0.8346001939379449]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_28","position":[0.07643890181673607,-1.753731742454884,0.71338606911949],"aabb_xy":[[0.05454915422779528,-1.843731739744133],[0.09832864940567687,-1.6637317451656348]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6899801609816358,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8219.png","name":"8219"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8219.png","name":"8219"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4796.png","name":"4796"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4474.png","name":"4474"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6320.png","name":"6320"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3414.png","name":"3414"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":726.335707031003,"rotation_z_degrees":211.48189238228252,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003502534298824602,0.011332775036998758,0.0019865534089256384]},{"name":"camera_2","offset_m":[0.013274156208198457,0.010366322779267072,-0.019872545995477966]},{"name":"camera_3","offset_m":[0.015149515663811019,0.005275231133594613,0.018611579805843725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016968472774063134,0.0009117842839504726,0.0004200993498672538],"end_effector_yaw_offset_degrees":-0.26702246225375514},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001150838899221991,-0.0001538733561355938,0.0001240374621687703],"end_effector_yaw_offset_degrees":0.4593277818045878},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00105520651984697,0.0015825651868743027,-0.00018719377322580803],"end_effector_yaw_offset_degrees":-0.46903846460273657},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017041291302545055,0.0004690512734400955,-0.0003851142796292776],"end_effector_yaw_offset_degrees":-0.23628362712794626},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015424293757608826,-0.0012648034887086713,0.0003360401941653532],"end_effector_yaw_offset_degrees":-0.3882012018477057},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004985240654823352,-0.00026979424284763985,-0.0015631648078542027],"end_effector_yaw_offset_degrees":-0.31612036247720665}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0020600400641800467,0.004703437523987276],"position_m":[0.13843995993581998,0.23940343752398727,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007191621421975712,-0.00312641862402812],"position_m":[0.2143191621421976,-0.05682641862402812,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0040716181237006625,0.0039020826392730202],"position_m":[0.25317161812370065,-0.379497917360727,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037750013109962227,0.004677230152736069],"position_m":[0.35737500131099625,0.12187723015273606,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1ec50386be7964fce139535905368659fa89427943e0954b39ae7c3e269b539b","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0051.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_8219/tex_ceiling_textures_3414/tex_floor_textures_6320/tex_table_textures_4796/tex_wall_textures_4474","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6041834700508793769,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6041834700508793769,"visual_seed":6041834700508793769,"scene_id":"lab_003","finished_at":"2026-09-06T13:35:03"} +{"episode_id":"ep_000052","started_at":"2026-09-06T13:35:10","dimensions":{"distractor":{"count":31,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.014870524279335218,1.6109517426545543,0.71338606911949],"aabb_xy":[[-0.07512947222153653,1.565040100236096],[0.10487052078020696,1.6568633850730126]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.21450278986367233,-1.4733633839854858,0.71338606911949],"aabb_xy":[[0.2068785217734941,-1.4809966075220296],[0.2221270579538506,-1.465730160448942]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.18676141559357962,-2.4408859585890332,0.71338606911949],"aabb_xy":[[-0.1927279545343154,-2.4468471032483974],[-0.18079487665284383,-2.434924813929669]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[-0.0971575696199185,1.2890913828841501,0.71338606911949],"aabb_xy":[[-0.1346575681955393,1.276355087220592],[-0.059657571044297704,1.3018276785477079]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_4","position":[0.24416430629247765,-1.8130929647491763,0.71338606911949],"aabb_xy":[[0.19416430493159043,-1.8630708693245919],[0.2941643076533649,-1.7631150601737606]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_5","position":[0.29662369338311556,-0.8498061241921968,0.71338606911949],"aabb_xy":[[0.27303856991922076,-0.9148061264376287],[0.32020881684701047,-0.7848061219467651]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[0.5795624495537319,0.4578039301019272,0.71338606911949],"aabb_xy":[[0.5669597504166555,0.4452085338770617],[0.5921651486908084,0.4703993263267927]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_7","position":[-0.5147659392917943,-1.7129861431960303,0.71338606911949],"aabb_xy":[[-0.5787659395657725,-1.7630522433933182],[-0.45076593901781603,-1.6629200429987423]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_8","position":[-0.14575879339478826,-2.000820297469433,0.71338606911949],"aabb_xy":[[-0.14983695130183802,-2.0049012777176958],[-0.14168063548773854,-1.9967393172211694]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.42987911018870717,1.4862675412649744,0.71338606911949],"aabb_xy":[[-0.4798791088346283,1.436347997605512],[-0.3798791115427859,1.5361870849244368]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[0.6106588447711099,-0.4831552444760523,0.71338606911949],"aabb_xy":[[0.5881588445275945,-0.4953598791358243],[0.6331588450146253,-0.4709506098162804]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_11","position":[0.18722564889394377,-2.476690231625705,0.71338606911949],"aabb_xy":[[0.12322565030737129,-2.5236971950252136],[0.25122564748051623,-2.429683268226196]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_12","position":[-0.48962092773159194,1.7645860938869462,0.71338606911949],"aabb_xy":[[-0.5146209276641098,1.757703425666023],[-0.46462092779907405,1.7714687621078695]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.5999851953498263,-0.2618040970533495,0.71338606911949],"aabb_xy":[[0.5749851957980877,-0.2719465809184842],[0.6249851949015647,-0.2516616131882148]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_14","position":[0.050502132435188085,-0.9075411473966848,0.71338606911949],"aabb_xy":[[0.03161774866667788,-0.9264270721770375],[0.06938651620369829,-0.8886552226163319]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.12459097538600605,-1.7995512930950797,0.71338606911949],"aabb_xy":[[-0.1745739255734854,-1.8495512927376399],[-0.07460802519852672,-1.749551293452519]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_16","position":[0.5383624538049818,-0.8212443762104826,0.71338606911949],"aabb_xy":[[0.5079643427058381,-0.8516512782121521],[0.5687605649041253,-0.7908374742088131]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[-0.22494129400680796,1.1310888333939664,0.71338606911949],"aabb_xy":[[-0.2889412931765779,1.084322146275004],[-0.16094129483703803,1.1778555205129289]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[0.4405203962161168,-1.6417026558664956,0.71338606911949],"aabb_xy":[[0.40372576309121055,-1.6786085309630778],[0.4773150293410231,-1.6047967807699133]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.42764445245995564,-2.5061329089092244,0.71338606911949],"aabb_xy":[[0.3938688932692626,-2.5201714041223893],[0.46142001165064855,-2.4920944136960594]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_20","position":[-0.03436572223145229,-1.571611142894448,0.71338606911949],"aabb_xy":[[-0.05257154589269997,-1.5826365434764398],[-0.01615989857020461,-1.5605857423124565]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_21","position":[0.6789259285293459,0.8680776118046358,0.71338606911949],"aabb_xy":[[0.6660540250284057,0.7880776113907996],[0.691797832030286,0.9480776122184719]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.265475553167737,0.38182099364400646,0.71338606911949],"aabb_xy":[[-0.2717876527040754,0.37605405439078765],[-0.25916345363139853,0.38758793289722526]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[-0.2439314032517816,-1.2349646287847111,0.71338606911949],"aabb_xy":[[-0.323931405414544,-1.3149198124108548],[-0.16393140108901907,-1.1550094451585675]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[0.6386472261466651,-2.1700478553424376,0.71338606911949],"aabb_xy":[[0.616150804712801,-2.192547855149185],[0.6611436475805292,-2.14754785553569]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_25","position":[-0.19727125208263918,0.7148062002602269,0.71338606911949],"aabb_xy":[[-0.25226672990329857,0.6598061988263199],[-0.14227577426197976,0.7698062016941337]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_26","position":[-0.004944280999287898,1.064350073518928,0.71338606911949],"aabb_xy":[[-0.04993686771773831,1.0193500742444792],[0.040048305719162514,1.1093500727933767]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_27","position":[-0.12306485581518734,0.4759437927693497,0.71338606911949],"aabb_xy":[[-0.17708045209708734,0.41194378987709257],[-0.06904925953328733,0.5399437956616069]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_28","position":[-0.23837275233952654,0.9219600909338723,0.71338606911949],"aabb_xy":[[-0.31837275099641255,0.9074552320096095],[-0.15837275368264053,0.9364649498581351]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_29","position":[-0.5390830866141405,-1.4841827620891543,0.71338606911949],"aabb_xy":[[-0.586212465615976,-1.5481827631335563],[-0.4919537076123046,-1.4201827610447524]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_30","position":[0.40615768786349604,-0.6022755608231873,0.71338606911949],"aabb_xy":[[0.3953060816146205,-0.6131348515508384],[0.4170092941123717,-0.5914162700955363]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6875711258757776,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4378.png","name":"4378"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4378.png","name":"4378"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6167.png","name":"6167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3505.png","name":"3505"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1850.png","name":"1850"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6810.png","name":"6810"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":638.5731509686307,"rotation_z_degrees":165.19337519670515,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0002402004229527903,-0.011916668639596594,0.009014025647345481]},{"name":"camera_2","offset_m":[0.00110076886253975,-0.0054834822971824605,-0.006895776265233357]},{"name":"camera_3","offset_m":[-0.0017367319674024932,-0.0007291795459182827,0.015646123325470326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013435806260646654,0.0014036275182847569,-1.3265884286431991e-05],"end_effector_yaw_offset_degrees":0.12674660769290758},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0006692436237321169,-0.0014760852743394863,-0.0002618823497218506],"end_effector_yaw_offset_degrees":-0.5113607304771104},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016218925367667962,0.0004721593274698908,-0.0015281865210261562],"end_effector_yaw_offset_degrees":0.30757499589333315},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017612784273798746,-0.0014017205690163915,-0.001644511977732183],"end_effector_yaw_offset_degrees":0.43879285678975166},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012443778089439865,-0.0008198609732194674,-0.0009318128167995696],"end_effector_yaw_offset_degrees":0.7023325009230306},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00019491102972760002,-5.862735119333039e-05,0.00011877794243560008],"end_effector_yaw_offset_degrees":-0.35596255470734794}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004018871808066826,-0.002684025334281567],"position_m":[0.1364811281919332,0.23201597466571844,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002224930610735113,0.0041614799124982576],"position_m":[0.2113750693892649,-0.04953852008750174,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0019010642118445133,-0.0007193887911253879],"position_m":[0.24719893578815547,-0.3841193887911254,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004407978421444151,0.0047659699970891],"position_m":[0.35800797842144416,0.1219659699970891,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b8822288ca24872aea86ab2d8733eb8a79ab79e3adf21c0e3b51c48b870cf4dd","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0052.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4378/tex_ceiling_textures_6810/tex_floor_textures_1850/tex_table_textures_6167/tex_wall_textures_3505","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":492292960549999806,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":492292960549999806,"visual_seed":492292960549999806,"scene_id":"lab_003","finished_at":"2026-09-06T13:41:31"} +{"episode_id":"ep_000053","started_at":"2026-09-06T13:41:37","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.47987669037166214,-0.7308718512654508,0.71338606911949],"aabb_xy":[[-0.49745499256060893,-0.7484463408395557],[-0.46229838818271524,-0.7132973616913459]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[-0.30286568124566093,-1.3143376360529813,0.71338606911949],"aabb_xy":[[-0.38286568450350383,-1.394334143844965],[-0.22286567798781792,-1.234341128260997]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.40839617057428157,1.0308437246145528,0.71338606911949],"aabb_xy":[[-0.4578765917882404,0.9668437267017009],[-0.35891574936032283,1.0948437225274046]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_3","position":[0.09938338305205185,-1.759359503021937,0.71338606911949],"aabb_xy":[[0.09448409074548834,-1.7870364223245054],[0.10428267535861534,-1.731682583719368]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_4","position":[0.07037355410854906,-1.5489768574791034,0.71338606911949],"aabb_xy":[[0.020373553747982994,-1.5989568446887061],[0.12037355446911512,-1.4989968702695002]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.3572491075425312,-2.3674357467830425,0.71338606911949],"aabb_xy":[[-0.36640898648640774,-2.3739669648265793],[-0.34808922859865454,-2.3609045287395056]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_6","position":[0.25991401809140935,-1.8607732967635604,0.71338606911949],"aabb_xy":[[0.2058984218095094,-1.9247732996558173],[0.3139296143733094,-1.796773293871303]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_7","position":[0.5506858043750902,1.66649189808644,0.71338606911949],"aabb_xy":[[0.5412683298052273,1.6570757209487208],[0.5601032789449528,1.6759080752241589]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[0.5498330455784288,-0.40049049456256247,0.71338606911949],"aabb_xy":[[0.5427915946276812,-0.4075172463003571],[0.5568744965291764,-0.39346374282476804]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.36264685639627914,-1.5601974833233185,0.71338606911949],"aabb_xy":[[-0.4526468531318893,-1.6133809466406126],[-0.27264685966066887,-1.5070140200060236]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[-0.050058073355277566,-2.2029741183335134,0.71338606911949],"aabb_xy":[[-0.10518327898486833,-2.2629741197748],[0.005067132274313212,-2.142974116892226]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.6092317069450188,1.2700623834388223,0.71338606911949],"aabb_xy":[[-0.6146896525820388,1.1900623801311632],[-0.6037737613079986,1.3500623867464814]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[0.460510757416148,0.5024864382609837,0.71338606911949],"aabb_xy":[[0.3965107571421698,0.45242033806369586],[0.5245107576901262,0.5525525384582718]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[-0.4845508468203121,0.5612777054708156,0.71338606911949],"aabb_xy":[[-0.5220508469921841,0.5285769700879083],[-0.44705084664844014,0.5939784408537226]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_14","position":[0.33841320354402216,-2.438344945563743,0.71338606911949],"aabb_xy":[[0.31056816676341503,-2.4691294443020553],[0.3662582403246293,-2.407560446825432]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_15","position":[0.1994042630554178,-0.7941984913394056,0.71338606911949],"aabb_xy":[[0.19062303590818164,-0.8029782386279358],[0.2081854902026541,-0.7854187440508755]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_16","position":[-0.2371531292804932,0.8056472581998859,0.71338606911949],"aabb_xy":[[-0.2532150567390108,0.720647256387294],[-0.22109120182197556,0.8906472600124776]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.21439044301412202,-1.5218402592319162,0.71338606911949],"aabb_xy":[[0.2064671627753737,-1.5443402594699194],[0.22231372325287035,-1.4993402589939127]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_18","position":[0.09935066571942919,1.1372622096542506,0.71338606911949],"aabb_xy":[[0.06250011778244159,1.0997622088312171],[0.1362012136564168,1.1747622104772846]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_19","position":[0.7015191400397949,-2.5335313897658533,0.71338606911949],"aabb_xy":[[0.6935256502445128,-2.541529521706329],[0.7095126298350769,-2.5255332578253777]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_20","position":[-0.5460223408699777,-0.838885275171789,0.71338606911949],"aabb_xy":[[-0.6260223413401937,-0.8471959827861374],[-0.46602234039976187,-0.8305745675574406]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.5820092578326752,-1.6377735874285433,0.71338606911949],"aabb_xy":[[0.5743060671585981,-1.645482958127281],[0.5897124485067521,-1.6300642167298047]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_22","position":[0.17567383266408454,1.4585491601498322,0.71338606911949],"aabb_xy":[[0.11067383262978181,1.4118484834695046],[0.24067383269838727,1.5052498368301592]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_23","position":[-0.07151879575819287,1.4241564412810166,0.71338606911949],"aabb_xy":[[-0.10901879655018831,1.4177886003228262],[-0.03401879496619742,1.4305242822392066]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_24","position":[-0.25821345143767493,-0.9466292336416193,0.71338606911949],"aabb_xy":[[-0.2886977015647051,-0.9966292334231152],[-0.22772920131064478,-0.8966292338601233]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_25","position":[0.17175581844448262,-2.249780060150979,0.71338606911949],"aabb_xy":[[0.14925581793244203,-2.2722719185163776],[0.19425581895652322,-2.227288201785581]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_26","position":[-0.005985755781730107,0.8830504491321371,0.71338606911949],"aabb_xy":[[-0.06998575812453166,0.8381095978880047],[0.05801424656107145,0.9279913003762696]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.5608388498264134,-2.3270200630659015,0.71338606911949],"aabb_xy":[[0.5258388515562934,-2.334094190760889],[0.5958388480965332,-2.319945935370913]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_28","position":[-0.08099280709910028,1.2547960275522367,0.71338606911949],"aabb_xy":[[-0.10349194282532725,1.232296026773974],[-0.05849367137287331,1.2772960283305]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_29","position":[0.37379239428682687,-1.7484920155884773,0.71338606911949],"aabb_xy":[[0.3696764441747542,-1.7526075706213227],[0.37790834439889953,-1.7443764605556316]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_30","position":[0.1471949843205097,-2.391996392185996,0.71338606911949],"aabb_xy":[[0.0671949856636237,-2.406501251110259],[0.2271949829773957,-2.377491533261733]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692015442495406,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2077.png","name":"2077"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2077.png","name":"2077"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6016.png","name":"6016"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1232.png","name":"1232"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7775.png","name":"7775"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1463.png","name":"1463"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":545.6756596762592,"rotation_z_degrees":274.1253155255923,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01019509697721984,0.00833817089057225,0.014636962487536449]},{"name":"camera_2","offset_m":[-0.009643328496427355,0.003449186501646939,0.01988833551662644]},{"name":"camera_3","offset_m":[-0.005050529222923688,0.01018114137061231,0.013349817644670168]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002255960876874994,-0.0004865166937448326,0.00030462409961819203],"end_effector_yaw_offset_degrees":0.35846880051663366},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00036203066517385583,-0.000614937972220115,-0.0007877580369837784],"end_effector_yaw_offset_degrees":-0.07722356941468322},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0019285468041470492,-0.0016326256155017806,-0.0018499779892518506],"end_effector_yaw_offset_degrees":-0.1710501273971532},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002915566211459065,-0.00021066182750873082,0.0013017386377760245],"end_effector_yaw_offset_degrees":-0.566704977464394},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015983949351048778,-0.0014651429926844503,0.00196459021509314],"end_effector_yaw_offset_degrees":-0.9894183139694455},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006275319349650704,-0.0014479955781476605,7.334013859287185e-05],"end_effector_yaw_offset_degrees":-0.9769812390798867}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002399362015909855,0.0029257101814814295],"position_m":[0.13810063798409017,0.23762571018148143,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004757225468012774,-0.0016942792774489236],"position_m":[0.21835722546801278,-0.05539427927744892,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003569586727522784,-0.0005396764341768015],"position_m":[0.25266958672752277,-0.3839396764341768,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001232302435882994,0.004255858583199012],"position_m":[0.35483230243588304,0.12145585858319902,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"018f528ba7b93ccfb2ab251a70001b6e27a1d4d9e1a63f24569d001c6585d832","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0053.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_2077/tex_ceiling_textures_1463/tex_floor_textures_7775/tex_table_textures_6016/tex_wall_textures_1232","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7237825940953946317,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7237825940953946317,"visual_seed":7237825940953946317,"scene_id":"lab_003","finished_at":"2026-09-06T13:47:34"} +{"episode_id":"ep_000054","started_at":"2026-09-06T13:47:42","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[0.4803307199510749,-1.2899725660480919,0.71338606911949],"aabb_xy":[[0.4435360868261687,-1.3268784411446741],[0.5171253530759812,-1.2530666909515096]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_1","position":[0.06799338789086673,-2.307187996399372,0.71338606911949],"aabb_xy":[[0.01299338871427723,-2.3621776711743294],[0.1229933870674562,-2.252198321624414]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_2","position":[-0.11933779018511292,-2.0945922017260474,0.71338606911949],"aabb_xy":[[-0.1253043291258487,-2.1005533463854116],[-0.11337125124437714,-2.0886310570666833]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_3","position":[0.6274525932475765,-2.2154332917119697,0.71338606911949],"aabb_xy":[[0.6237493319184374,-2.219135310020687],[0.6311558545767152,-2.2117312734032515]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_4","position":[-0.1725997820374482,-1.7529555624034323,0.71338606911949],"aabb_xy":[[-0.22257307604070858,-1.8029555629579794],[-0.12262648803418769,-1.7029555618488847]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[-0.2587701151757497,-1.4276757110753364,0.71338606911949],"aabb_xy":[[-0.31389532080534044,-1.4876757125166236],[-0.2036449095461589,-1.3676757096340493]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.6783913799722319,-0.3159484820819993,0.71338606911949],"aabb_xy":[[0.6607585443787043,-0.33357142809762225],[0.6960242155657594,-0.2983255360663763]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_7","position":[-0.19830929583070261,-2.120830317247473,0.71338606911949],"aabb_xy":[[-0.2031528905919326,-2.125681969726457],[-0.19346570106947264,-2.115978664768489]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.5845087280631194,-1.2011655869208429,0.71338606911949],"aabb_xy":[[0.571277782528438,-1.214393005942842],[0.5977396735978006,-1.1879381678988432]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_9","position":[-0.6798251636983977,0.9377530193836643,0.71338606911949],"aabb_xy":[[-0.6837390368938203,0.9290040039771075],[-0.6759112905029752,0.9465020347902211]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[-0.6032213003755316,0.24253996205625494,0.71338606911949],"aabb_xy":[[-0.6672213007530651,0.19279469520544265],[-0.5392212999979978,0.2922852289070672]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.19573579957644482,0.5100705392397868,0.71338606911949],"aabb_xy":[[-0.20336006766662312,0.5024373157032431],[-0.18811153148626664,0.5177037627763306]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_12","position":[0.6018665148831399,0.12124667343114792,0.71338606911949],"aabb_xy":[[0.594826204949603,0.041246674031476506],[0.608906824816677,0.20124667283081935]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_13","position":[-0.5839097721890023,-1.1064086140600942,0.71338606911949],"aabb_xy":[[-0.5990120736500201,-1.1215101356911554],[-0.5688074707279839,-1.091307092429032]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.5852257396970126,-1.5343100222327537,0.71338606911949],"aabb_xy":[[0.5606795240742618,-1.5645589187817908],[0.6097719553197632,-1.5040611256837166]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_15","position":[-0.18928003521375525,1.6087833190561214,0.71338606911949],"aabb_xy":[[-0.2302979786001261,1.558783318425164],[-0.14826209182738434,1.6587833196870787]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.5890364391839975,0.8162855027598135,0.71338606911949],"aabb_xy":[[-0.6590364355939591,0.7958475671081315],[-0.5190364427740355,0.836723438411495]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[-0.48962991933252203,-0.8237090446505433,0.71338606911949],"aabb_xy":[[-0.4950878649695421,-0.9037090479582024],[-0.48417197369550197,-0.7437090413428842]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_18","position":[-0.28700166454569276,-0.5080458195975024,0.71338606911949],"aabb_xy":[[-0.32349748517297144,-0.54452976202426],[-0.25050584391841396,-0.4715618771707448]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[0.6479626606674753,-2.5751654401183757,0.71338606911949],"aabb_xy":[[0.6385451860976126,-2.5845816172560947],[0.6573801352373381,-2.5657492629806566]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[-0.20834043270653319,0.28112667603949815,0.71338606911949],"aabb_xy":[[-0.23083685414039729,0.25862667623275076],[-0.18584401127266909,0.30362667584624564]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.404977048656662,-2.4117392492801977,0.71338606911949],"aabb_xy":[[-0.4689770500646526,-2.4635282008041224],[-0.3409770472486713,-2.359950297756273]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_22","position":[0.5461758987113845,-2.322330338604209,0.71338606911949],"aabb_xy":[[0.5427352224713274,-2.326191771578574],[0.5496165749514418,-2.318468905629845]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_23","position":[0.43635191849312394,1.6661823634281503,0.71338606911949],"aabb_xy":[[0.41343620560807415,1.643278066291727],[0.45926763137817395,1.689086660564574]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_24","position":[-0.24362554448355117,1.7796157869467852,0.71338606911949],"aabb_xy":[[-0.26130117507214945,1.7619355706673823],[-0.22594991389495284,1.7972960032261878]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[0.6700602839088798,-1.9940706462129947,0.71338606911949],"aabb_xy":[[0.6222541162951112,-2.0590706489200534],[0.7178664515226485,-1.9290706435059353]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900801013731779,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2361.png","name":"2361"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2361.png","name":"2361"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8151.png","name":"8151"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6079.png","name":"6079"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/350.png","name":"350"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/683.png","name":"683"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.9650871386923,"rotation_z_degrees":358.10091060655776,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016540445349067217,0.011166710018681511,-9.14169823878555e-05]},{"name":"camera_2","offset_m":[0.015607174979612792,-0.01394720972768698,-0.010517631150244773]},{"name":"camera_3","offset_m":[0.010070475100581244,0.016945849189204058,0.015597737651629261]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011650222391924015,0.0014358441026098585,-0.0017786561980256358],"end_effector_yaw_offset_degrees":-0.08869793496939327},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00024691810897291863,0.0008326870094534666,0.001324559851721641],"end_effector_yaw_offset_degrees":-0.905997813532015},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[3.568795971042914e-05,-0.0019051955617366586,-0.0006054032238939407],"end_effector_yaw_offset_degrees":-0.72535406547178},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00013956593033334999,-0.0018253235900545085,-6.397867902159949e-05],"end_effector_yaw_offset_degrees":-0.29006683499844677},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00034649964714200026,-0.0005784293983420695,0.00025609931544806836],"end_effector_yaw_offset_degrees":0.7767995932004121},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012919864917106598,-0.0012373399588893035,-0.0018366871750148898],"end_effector_yaw_offset_degrees":-0.4362049909042849}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0035474017961660527,-0.0049567717115173845],"position_m":[0.14404740179616607,0.22974322828848262,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0007804678494408978,0.0018067273337822312],"position_m":[0.21281953215055913,-0.051893272666217766,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009325670843135262,-0.0010012639341817967],"position_m":[0.25003256708431354,-0.38440126393418184,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0038679055932138388,0.0037203895015496544],"position_m":[0.3497320944067862,0.12092038950154965,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c909d16d7be378dfbf954b8cf07f7d65ea8176118e0af9cb8254a8dc9021146a","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0054.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2361/tex_ceiling_textures_683/tex_floor_textures_350/tex_table_textures_8151/tex_wall_textures_6079","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3515883059801266338,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3515883059801266338,"visual_seed":3515883059801266338,"scene_id":"lab_003","finished_at":"2026-09-06T13:53:45"} +{"episode_id":"ep_000055","started_at":"2026-09-06T13:53:51","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_0","position":[0.21212525503660673,1.438834162454539,0.71338606911949],"aabb_xy":[[0.13212525476299977,1.3658846146288222],[0.2921252553102137,1.5117837102802556]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_1","position":[-0.5944607084752589,1.3158077032055435,0.71338606911949],"aabb_xy":[[-0.6794607071673335,1.2838218398106647],[-0.5094607097831843,1.3477935666004224]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_2","position":[0.45292209258001237,1.4801860222689736,0.71338606911949],"aabb_xy":[[0.44588064162926483,1.4731592705311791],[0.45996354353076,1.487212774006768]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_3","position":[0.22204057218648587,-0.939189321819903,0.71338606911949],"aabb_xy":[[0.1834948793612848,-0.9777350928760916],[0.2605862650116869,-0.9006435507637144]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.5193184431446792,-0.009928115625151612,0.71338606911949],"aabb_xy":[[-0.5258200796526838,-0.01969593765146138],[-0.5128168066366746,-0.00016029359884184131]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_5","position":[0.21743856068597656,-1.8846962468671014,0.71338606911949],"aabb_xy":[[0.1674654951534611,-1.9346962466796345],[0.267411626218492,-1.8346962470545687]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_6","position":[-0.3342591658881377,-2.5319318775201562,0.71338606911949],"aabb_xy":[[-0.338894281040371,-2.5357992125973046],[-0.3296240507359042,-2.528064542443007]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[-0.040577860775629415,-1.7331125176526854,0.71338606911949],"aabb_xy":[[-0.07489413795024735,-1.7831125176258629],[-0.006261583601011478,-1.6831125176795074]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.029282336121662644,-2.0873814077340827,0.71338606911949],"aabb_xy":[[-0.08691280500893349,-2.147381406660793],[0.028348132765608203,-2.0273814088073716]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_9","position":[0.44224858925505606,0.6502304989511942,0.71338606911949],"aabb_xy":[[0.4247485899769692,0.6328923988848483],[0.45974858853314293,0.6675685990175402]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_10","position":[-0.6024621678178572,-2.1346023894848245,0.71338606911949],"aabb_xy":[[-0.6824621682880732,-2.1429130970991728],[-0.5224621673476413,-2.1262916818704762]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_11","position":[-0.4771991290833256,-2.044602402368943,0.71338606911949],"aabb_xy":[[-0.5571991262429009,-2.05615000332676],[-0.39719913192375034,-2.033054801411126]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_12","position":[0.31804846731388525,-1.343957814844,0.71338606911949],"aabb_xy":[[0.28345738445984,-1.4089578151290307],[0.3526395501679304,-1.2789578145589686]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_13","position":[-0.30185493034172056,-0.8738149753438951,0.71338606911949],"aabb_xy":[[-0.371854932150466,-0.8951687441080826],[-0.23185492853297512,-0.8524612065797078]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_14","position":[-0.6860663495618007,0.44537474313411307,0.71338606911949],"aabb_xy":[[-0.6933486659384642,0.3553747395246039],[-0.6787840331851369,0.5353747467436218]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_15","position":[0.26783155652826474,-2.2795175908957797,0.71338606911949],"aabb_xy":[[0.2503315573938975,-2.289397217933367],[0.28533155566263185,-2.2696379638581914]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_16","position":[-0.23359329788977,-0.14746910793230006,0.71338606911949],"aabb_xy":[[-0.2444449041386456,-0.15832839865995108],[-0.2227416916408944,-0.13660981720464904]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_17","position":[0.6792411636478719,-1.8908515217159922,0.71338606911949],"aabb_xy":[[0.6579631555043995,-1.9558515240420653],[0.700519171791344,-1.8258515193899192]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_18","position":[0.3624080696318197,0.695475095687093,0.71338606911949],"aabb_xy":[[0.3445389618773642,0.681642187709882],[0.3802771773862752,0.7093080036643039]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.44133720382843533,-1.3031711966203499,0.71338606911949],"aabb_xy":[[0.42527527636991763,-1.3881711984329412],[0.4573991312869529,-1.2181711948077576]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[-0.17126119566606735,-1.5896289020717926,0.71338606911949],"aabb_xy":[[-0.23526119895577544,-1.6329638210757105],[-0.10726119237635921,-1.5462939830678752]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_21","position":[0.04278716207863731,-1.013582053599993,0.71338606911949],"aabb_xy":[[-0.007212837497697404,-1.063562632552099],[0.09278716165497203,-0.9636014746478871]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[0.33102206660045486,-1.1294296655302793,0.71338606911949],"aabb_xy":[[0.29655958858736703,-1.136093342713202],[0.3654845446135426,-1.1227659883473566]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_23","position":[-0.31962213352858043,0.27017443497791405,0.71338606911949],"aabb_xy":[[-0.33716882844469936,0.23267443341366278],[-0.3020754386124615,0.3076744365421653]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.163479992951434,1.2573642796255813,0.71338606911949],"aabb_xy":[[-0.19910914885139375,1.2217316128687281],[-0.12785083705147426,1.292996946382434]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_25","position":[0.49823518002170286,-1.6271999589515744,0.71338606911949],"aabb_xy":[[0.4647950048256832,-1.6606435847825043],[0.5316753552177224,-1.5937563331206441]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6887228165651136,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7862.png","name":"7862"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5271.png","name":"5271"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4243.png","name":"4243"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7706.png","name":"7706"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7529.png","name":"7529"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":712.3117559649346,"rotation_z_degrees":150.6239005355883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009740615663487887,0.012278900542669741,0.00437483340339663]},{"name":"camera_2","offset_m":[0.016569875270229944,-0.019702786245963708,-0.01962101374616728]},{"name":"camera_3","offset_m":[-0.016394167193191717,0.010651188519638737,-0.006107445973884667]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014495876049800951,-0.0014306583028424376,0.0016865398427587481],"end_effector_yaw_offset_degrees":0.9487262313595997},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007561958996899227,-0.001216840409680081,0.001231097135809731],"end_effector_yaw_offset_degrees":-0.11747584375973452},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007532110767025503,0.0018409987039245692,-0.001639328206368707],"end_effector_yaw_offset_degrees":-0.14413737306064522},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003157164537575441,-0.0019294999510823417,-0.0004633159406585716],"end_effector_yaw_offset_degrees":0.21977720556513525},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013122368141315123,-0.0009614256948013602,-0.0009293149873762503],"end_effector_yaw_offset_degrees":0.0032922653895801623},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019791673042177027,-1.8811710343095197e-05,0.001993716230887084],"end_effector_yaw_offset_degrees":-0.8986107896391251}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000518489086468431,-0.0017960284988271713],"position_m":[0.14101848908646844,0.2329039715011728,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003952954502450108,-0.0005429550248061202],"position_m":[0.21755295450245013,-0.05424295502480612,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-2.7691620644709064e-06,4.100147888889006e-05],"position_m":[0.24909723083793553,-0.3833589985211111,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003888335189068776,0.003986033813406954],"position_m":[0.34971166481093124,0.12118603381340695,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d6efd67b109f882677638d0eec9d9ba3e30734efcfeb92b7a6eb61c0aaa36cdb","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_7862/tex_ceiling_textures_7529/tex_floor_textures_7706/tex_table_textures_5271/tex_wall_textures_4243","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":85227437941202652,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":85227437941202652,"visual_seed":85227437941202652,"scene_id":"lab_003","finished_at":"2026-09-06T13:59:49"} +{"episode_id":"ep_000056","started_at":"2026-09-06T14:06:29","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_0","position":[0.49787212939935643,-1.6189200495794573,0.71338606911949],"aabb_xy":[[0.44787212773786156,-1.6689184918351598],[0.547872131060851,-1.5689216073237544]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.5177730055352079,0.477366069713018,0.71338606911949],"aabb_xy":[[0.4340507800351254,0.387366066178322],[0.6014952310352903,0.5673660732477139]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.6054986696812562,0.9696553904796601,0.71338606911949],"aabb_xy":[[-0.6127424357275015,0.8896553922760576],[-0.5982549036350109,1.0496553886832625]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_3","position":[0.009662063933173481,-1.2073198133571172,0.71338606911949],"aabb_xy":[[0.0008808367859372559,-1.2160995606456477],[0.01844329108040971,-1.1985400660685872]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.5688829071412833,0.7870990001935039,0.71338606911949],"aabb_xy":[[-0.5938829063069165,0.7801467544881473],[-0.5438829079756503,0.7940512458988604]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_5","position":[-0.012205688404129722,-1.7319094015387497,0.71338606911949],"aabb_xy":[[-0.021499306641280302,-1.7694094000268834],[-0.0029120701669791416,-1.6944094030506156]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_6","position":[0.019472932391428444,-2.4088554186584266,0.71338606911949],"aabb_xy":[[-0.00344278049362146,-2.4317597157948505],[0.04238864527647834,-2.3859511215220035]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_7","position":[0.2936259223406079,-0.5592321644648566,0.71338606911949],"aabb_xy":[[0.2854982341472947,-0.5681457728755641],[0.30175361053392113,-0.5503185560541488]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[-0.5124956763070343,-1.876053606921684,0.71338606911949],"aabb_xy":[[-0.5493462242440219,-1.9135536077447177],[-0.4756451283700467,-1.8385536060986503]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[-0.1299657517475017,-1.940827057685787,0.71338606911949],"aabb_xy":[[-0.16746575185309462,-1.9476492195387678],[-0.09246575164190872,-1.9340048958328055]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_10","position":[0.22740851699545206,1.6034334444594056,0.71338606911949],"aabb_xy":[[0.2099085178610849,1.5935538174218176],[0.24490851612981923,1.6133130714969932]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[-0.1646295150698599,0.7354266456413265,0.71338606911949],"aabb_xy":[[-0.18212951532919652,0.7213351034525541],[-0.14712951481052328,0.7495181878300994]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[0.13183116001049655,-0.960470964802719,0.71338606911949],"aabb_xy":[[0.07781556372859655,-1.0244709676949761],[0.18584675629239655,-0.8964709619104618]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_13","position":[-0.5373003592509972,-1.6707869958393435,0.71338606911949],"aabb_xy":[[-0.5973003601118099,-1.7222134258458297],[-0.4773003583901843,-1.619360565832857]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_14","position":[-0.6474180521756603,-0.05585861942242287,0.71338606911949],"aabb_xy":[[-0.6724180521081782,-0.06274128764334619],[-0.6224180522431424,-0.04897595120149956]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_15","position":[0.6294448934867147,1.2127069321637958,0.71338606911949],"aabb_xy":[[0.5654448949001422,1.165699968764287],[0.6934448920732871,1.2597138955633045]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[0.29912701471911807,-0.8246373797732687,0.71338606911949],"aabb_xy":[[0.23912701487255122,-0.8814560019663074],[0.3591270145656848,-0.76781875758023]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_17","position":[0.18123672849938366,-1.5735269966208623,0.71338606911949],"aabb_xy":[[0.14373672855561725,-1.5818200866556986],[0.21873672844315006,-1.5652339065860255]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.4262450859823206,0.467737189367639,0.71338606911949],"aabb_xy":[[-0.4672630293686915,0.4177371887366817],[-0.38522714259594976,0.5177371899985963]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_19","position":[0.67148328803355,-0.05995747183008149,0.71338606911949],"aabb_xy":[[0.653936593117431,-0.09745747339433275],[0.6890299829496689,-0.022457470265830226]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.4065445018967857,-0.3587041724568376,0.71338606911949],"aabb_xy":[[0.3898673659036902,-0.37540409643076783],[0.4232216378898812,-0.3420042484829073]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.3835430674169288,-1.9248261069163637,0.71338606911949],"aabb_xy":[[-0.38950960635766446,-1.9307872515757276],[-0.3775765284761929,-1.9188649622569993]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_22","position":[-0.07148156589908528,1.0062830809265852,0.71338606911949],"aabb_xy":[[-0.1100272587242863,0.9677373098703966],[-0.03293587307388423,1.044828851982774]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_23","position":[0.27112191659347595,-1.3180021915800155,0.71338606911949],"aabb_xy":[[0.23612191661698012,-1.3274668076276321],[0.3061219165699718,-1.308537575532399]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_24","position":[-0.6343788287151332,-1.244765354690821,0.71338606911949],"aabb_xy":[[-0.676563242875964,-1.3087653549680325],[-0.5921944145543026,-1.18076535441361]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_25","position":[-0.03657772297227846,-1.4162857196081213,0.71338606911949],"aabb_xy":[[-0.08370710197411413,-1.480285720652523],[0.010551656029557217,-1.3522857185637192]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_26","position":[-0.18642711441523563,-1.4629462356736735,0.71338606911949],"aabb_xy":[[-0.21164795127507524,-1.4881699865265599],[-0.1612062775553959,-1.4377224848207864]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_27","position":[-0.37077152708809635,0.7662816715161709,0.71338606911949],"aabb_xy":[[-0.4207448210913567,0.7162816709616235],[-0.3207982330848358,0.8162816720707182]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[0.3021510511628007,1.7214218126531935,0.71338606911949],"aabb_xy":[[0.23815105386045426,1.6770553856853367],[0.36615104846514707,1.7657882396210502]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_29","position":[-0.5177625277574753,-2.1922158415101047,0.71338606911949],"aabb_xy":[[-0.5390405359009476,-2.2572158438361773],[-0.4964845196140031,-2.1272158391840312]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_30","position":[-0.10661531177358552,1.4921870560002053,0.71338606911949],"aabb_xy":[[-0.11389762815024916,1.402187052390696],[-0.09933299539692185,1.582187059609714]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6902181414683577,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9658.png","name":"9658"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6804.png","name":"6804"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5554.png","name":"5554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9719.png","name":"9719"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":647.4363142466505,"rotation_z_degrees":276.5502598978901,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018448308898851126,-0.0036583904976767515,0.0013665725066429428]},{"name":"camera_2","offset_m":[0.017956883587436506,-0.005944029627441956,-0.002086303353848039]},{"name":"camera_3","offset_m":[0.013417000199059819,-0.00032856068041361985,-0.003164757560775753]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017385121438211614,0.001521476096458561,-0.00036863253960428945],"end_effector_yaw_offset_degrees":-0.9283668782973613},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00021396665188485242,0.0007138855634660334,0.001297253032207611],"end_effector_yaw_offset_degrees":-0.6806191320561557},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00010799408969768996,0.0016015678607317427,0.0016902980781723065],"end_effector_yaw_offset_degrees":0.10628563894009013},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0018961776053361677,-0.00018766703897419353,0.0013695051096068059],"end_effector_yaw_offset_degrees":0.37823093256172235},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007747371904257916,-0.0011313489804466214,-0.0007492028558745919],"end_effector_yaw_offset_degrees":-0.06672648542904724},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009723080770719838,0.0018803449741140203,-0.0004610678070608731],"end_effector_yaw_offset_degrees":-0.41821372984380734}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0037946856130777144,0.004330518617159772],"position_m":[0.1367053143869223,0.23903051861715977,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0025761877897030896,-0.0014921705411968067],"position_m":[0.21102381221029692,-0.0551921705411968,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0017293404622597333,-5.9243173551472295e-05],"position_m":[0.25082934046225974,-0.3834592431735515,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030446938575150353,0.003915482197332127],"position_m":[0.350555306142485,0.12111548219733212,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"420cfdb8e6135e21fada1b066954e01ea3858a3b72b8c44a8ce65440741224fd","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2603/tex_ceiling_textures_9719/tex_floor_textures_5554/tex_table_textures_9658/tex_wall_textures_6804","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7550817507829134568,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7550817507829134568,"visual_seed":7550817507829134568,"scene_id":"lab_003","finished_at":"2026-09-06T14:12:57"} +{"episode_id":"ep_000057","started_at":"2026-09-06T14:13:03","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_0","position":[0.522796832653563,-0.9150547096152353,0.71338606911949],"aabb_xy":[[0.46782311061723014,-0.9700547091794686],[0.5777705546898959,-0.8600547100510022]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[-0.1660494141898765,-1.634468246466211,0.71338606911949],"aabb_xy":[[-0.17246322783306142,-1.6408780667138791],[-0.15963560054669154,-1.6280584262185425]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_2","position":[-0.008756520088463504,1.6885073571366775,0.71338606911949],"aabb_xy":[[-0.04625652038063832,1.684465881736074],[0.028743480203711314,1.692548832537281]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[-0.04703355179796287,0.3206600906097843,0.71338606911949],"aabb_xy":[[-0.06731785452136162,0.30037746546707544],[-0.026749249074564104,0.34094271575249313]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.37048931884154523,-1.436763557867613,0.71338606911949],"aabb_xy":[[0.305489317735602,-1.461728930935741],[0.4354893199474886,-1.4117981847994845]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[-0.12090027872753584,-1.7507224749340549,0.71338606911949],"aabb_xy":[[-0.14280896086688688,-1.7726231417541454],[-0.09899159658818478,-1.728821808113964]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_6","position":[0.3485400197796873,1.1856174185982353,0.71338606911949],"aabb_xy":[[0.28354001714189386,1.1341378198987881],[0.41354002241748083,1.237097017297682]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_7","position":[-0.6489162959545419,-1.5711012966083544,0.71338606911949],"aabb_xy":[[-0.6864162966191205,-1.5867883546085766],[-0.6114162952899631,-1.5554142386081322]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.18866115773414327,-0.7627959699165652,0.71338606911949],"aabb_xy":[[-0.23084557189497404,-0.8267959701937765],[-0.14647674357331256,-0.6987959696393541]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_9","position":[-0.2712679169626525,1.7355290046516516,0.71338606911949],"aabb_xy":[[-0.2975567412830931,1.709257570997],[-0.24497909264221182,1.7618004383063024]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_10","position":[0.38686895776166064,-2.3941554405618533,0.71338606911949],"aabb_xy":[[0.3292384888743897,-2.4541554394885634],[0.4444994266489314,-2.334155441635142]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_11","position":[0.46380119012186705,1.792295166429565,0.71338606911949],"aabb_xy":[[0.44791669685654195,1.7779422261307412],[0.47968568338719225,1.8066481067283893]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[-0.46555710138845646,-1.107502004539834,0.71338606911949],"aabb_xy":[[-0.4826591793468247,-1.1246088100711038],[-0.44845502343008836,-1.0903951990085643]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[-0.3506312860527008,1.1085176229197198,0.71338606911949],"aabb_xy":[[-0.3625033690642019,1.0235176232260694],[-0.33875920304119966,1.1935176226133701]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_14","position":[0.7189189382830883,-0.8595557903159441,0.71338606911949],"aabb_xy":[[0.7142838231308548,-0.8634231253930925],[0.7235540534353215,-0.8556884552387952]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_15","position":[0.6174210188058784,-0.6781581892039401,0.71338606911949],"aabb_xy":[[0.579921018862112,-0.6864512792387767],[0.6549210187496448,-0.6698650991691035]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_16","position":[-0.4756354108203318,-2.517946390951754,0.71338606911949],"aabb_xy":[[-0.5106354107968276,-2.5274110069993707],[-0.4406354108438359,-2.508481774904137]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.44335371312007865,-2.180254036842806,0.71338606911949],"aabb_xy":[[0.43845442081351504,-2.2079309561453746],[0.44825300542664204,-2.152577117540237]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_18","position":[0.5635782742296143,1.2393451025484445,0.71338606911949],"aabb_xy":[[0.5265441648015545,1.204967895214735],[0.600612383657674,1.2737223098821537]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_19","position":[0.6043250902991939,-2.2664917252948977,0.71338606911949],"aabb_xy":[[0.5543250892800586,-2.302957941032726],[0.6543250913183292,-2.2300255095570702]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_20","position":[0.19314325022368928,-2.137864535299502,0.71338606911949],"aabb_xy":[[0.173084838610449,-2.15792962220866],[0.21320166183692957,-2.117799448390345]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.13286507388780855,1.2626947974569371,0.71338606911949],"aabb_xy":[[0.08286507293727574,1.2311456504534155],[0.18286507483834136,1.2942439444604583]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_22","position":[-0.6527502236116701,-1.0949220867654348,0.71338606911949],"aabb_xy":[[-0.6606735038504185,-1.1174220870034381],[-0.6448269433729218,-1.0724220865274314]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[0.10029115447651327,-1.5225913798834,0.71338606911949],"aabb_xy":[[0.08518885301549514,-1.5376929015144616],[0.11539345593753134,-1.5074898582523377]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_24","position":[0.4212536823371942,1.495831152884001,0.71338606911949],"aabb_xy":[[0.4038229672581876,1.4785590382201497],[0.43868439741620063,1.5131032675478513]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_25","position":[0.16760439072977873,0.8527685273351961,0.71338606911949],"aabb_xy":[[0.10260439284813094,0.8016448636286554],[0.23260438861142654,0.9038921910417371]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.539107137755592,0.9701038427683581,0.71338606911949],"aabb_xy":[[0.5282666595290771,0.9529175614777093],[0.549947615982107,0.987290124059007]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.3858426251736782,-0.470763961718788,0.71338606911949],"aabb_xy":[[0.3778062904723933,-0.4788020810232047],[0.39387895987496296,-0.46272584241437115]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[0.5480495730497512,1.43647186729619,0.71338606911949],"aabb_xy":[[0.5137332958751333,1.386471867323012],[0.5823658502243692,1.4864718672693675]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_29","position":[-0.5439218616935313,-0.20460048002865694,0.71338606911949],"aabb_xy":[[-0.6079218633715285,-0.25311787150797116],[-0.47992186001553383,-0.15608308854934272]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_30","position":[-0.38704303021963077,-0.18794165999176204,0.71338606911949],"aabb_xy":[[-0.40893277780857157,-0.2779416572810111],[-0.36515328263068997,-0.09794166270251291]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_31","position":[0.5275929045377221,-1.6802434819272345,0.71338606911949],"aabb_xy":[[0.4475929042641151,-1.753193029752951],[0.607592904811329,-1.6072939341015176]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_32","position":[-0.17392143152975503,-1.9603548934686228,0.71338606911949],"aabb_xy":[[-0.19155426712328258,-1.977977839484246],[-0.15628859593622743,-1.942731947453]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6842389088177169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3853.png","name":"3853"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6521.png","name":"6521"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2730.png","name":"2730"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6821.png","name":"6821"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/960.png","name":"960"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":763.3053072694922,"rotation_z_degrees":42.9119786089975,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006356589237746988,-0.01866824485875013,0.007645330755458542]},{"name":"camera_2","offset_m":[-0.013116895269991186,0.0018802979063282238,-0.01194420511291399]},{"name":"camera_3","offset_m":[-0.01285635385317137,0.015830298143506196,-0.009978044130589763]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00024942801886539395,-0.00046376947237312775,-0.0019978120520882047],"end_effector_yaw_offset_degrees":-0.7348791469382301},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0013982918978562835,-0.0013258940703929209,-0.0016086961435744901],"end_effector_yaw_offset_degrees":0.043697594131715034},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011611206435845345,0.0010541610423118798,-0.0017674581039066766],"end_effector_yaw_offset_degrees":0.11247915604776404},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006532262571966236,-0.00025553860343682897,-0.0006100631226624853],"end_effector_yaw_offset_degrees":-0.9005543977739563},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016940402396193252,-0.0004972207025168726,-0.0008216599231972315],"end_effector_yaw_offset_degrees":-0.5656518654854148},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016722389707833326,-0.0016105524882366069,0.0004871139398690406],"end_effector_yaw_offset_degrees":0.2753013375616915}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009683069193486072,-0.004106979646435464],"position_m":[0.1414683069193486,0.23059302035356452,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009142739277026146,0.0006359777868757185],"position_m":[0.21451427392770261,-0.05306402221312428,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004093068679060165,0.0019923265283329442],"position_m":[0.2450069313209398,-0.3814076734716671,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006762599292616557,0.0013492125037999417],"position_m":[0.35292374007073835,0.11854921250379993,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9c35863f5ad71403659ee9fcec6db12bb51fbce5e25c239b6a165910f7e07729","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0058.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3853/tex_ceiling_textures_960/tex_floor_textures_6821/tex_table_textures_6521/tex_wall_textures_2730","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5893714352539129035,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5893714352539129035,"visual_seed":5893714352539129035,"scene_id":"lab_003","finished_at":"2026-09-06T14:19:06"} +{"episode_id":"ep_000058","started_at":"2026-09-06T14:19:12","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[0.5486866006754862,-0.9246397986542365,0.71338606911949],"aabb_xy":[[0.4985891366944125,-0.9886397991640483],[0.5987840646565598,-0.8606397981444247]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[-0.23457134922600148,1.0752139522958366,0.71338606911949],"aabb_xy":[[-0.25345573299451163,1.0563280275154838],[-0.21568696545749125,1.0940998770761894]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_2","position":[-0.28787151389362803,0.8534567387986436,0.71338606911949],"aabb_xy":[[-0.30297381535464607,0.8383552171675815],[-0.2727692124326099,0.8685582604297052]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_3","position":[0.37842354624737773,-2.1137114783832005,0.71338606911949],"aabb_xy":[[0.32842427107894157,-2.163711479659148],[0.4284228214158139,-2.0637114771072538]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[-0.27330896204816324,-1.3732546559880918,0.71338606911949],"aabb_xy":[[-0.2824688409920398,-1.379785874031629],[-0.2641490831042866,-1.3667234379445548]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_5","position":[0.06365427603411311,-1.9942724805837018,0.71338606911949],"aabb_xy":[[0.03843343917427342,-2.019496231436588],[0.08887511289395275,-1.9690487297308148]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[0.11280221303257865,-1.2017639776800233,0.71338606911949],"aabb_xy":[[0.032802215628985214,-1.281756548878206],[0.19280221043617204,-1.1217714064818403]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_7","position":[-0.055218139172914515,-1.4880905974089789,0.71338606911949],"aabb_xy":[[-0.058921400502053384,-1.4917926157176962],[-0.05151487784377565,-1.4843885791002607]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_8","position":[-0.5288818925512342,0.730846274248854,0.71338606911949],"aabb_xy":[[-0.5938818904328821,0.6797226105423131],[-0.4638818946695865,0.7819699379553949]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_9","position":[0.11153757239885675,-0.7278706466164124,0.71338606911949],"aabb_xy":[[0.08653757284711827,-0.7380131304815472],[0.13653757195059524,-0.7177281627512777]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.49491667817677787,-1.860047983031638,0.71338606911949],"aabb_xy":[[-0.554916678772794,-1.9148604555768618],[-0.4349166775807617,-1.8052355104864148]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[0.5984798699829652,0.8949235200413264,0.71338606911949],"aabb_xy":[[0.590855601892787,0.8872902965047827],[0.6061041380731435,0.9025567435778702]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_12","position":[-0.16224428675427105,1.7576113034084844,0.71338606911949],"aabb_xy":[[-0.22724428939206454,1.7061317047090374],[-0.09724428411647756,1.8090909021079313]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_13","position":[-0.09279349181176133,-0.9242126401346145,0.71338606911949],"aabb_xy":[[-0.1047262261735894,-0.9365947929424737],[-0.08086075744993326,-0.911830487326755]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_14","position":[-0.18878425563378431,1.5969809267110349,0.71338606911949],"aabb_xy":[[-0.226284256298363,1.5812938687108125],[-0.15128425496920558,1.6126679847112568]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[-0.5715627399201588,1.567812109117098,0.71338606911949],"aabb_xy":[[-0.6090627402683865,1.5560207135360142],[-0.534062739571931,1.5796035046981813]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_16","position":[-0.6518469511374667,-2.281114490232859,0.71338606911949],"aabb_xy":[[-0.6823312012644968,-2.331114490014355],[-0.6213627010104364,-2.231114490451363]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[-0.5443741506491184,0.524164180716308,0.71338606911949],"aabb_xy":[[-0.5942568475268146,0.47416418147003325],[-0.49449145377142223,0.5741641799625827]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_18","position":[-0.18587789928272047,-0.7411895147480152,0.71338606911949],"aabb_xy":[[-0.2658778978700399,-0.8205051166861761],[-0.10587790069540105,-0.6618739128098543]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_19","position":[-0.6591147872884284,0.9492428125032424,0.71338606911949],"aabb_xy":[[-0.663230737400501,0.9451272574703967],[-0.6549988371763557,0.9533583675360878]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.039461630522938274,-1.5993928296489828,0.71338606911949],"aabb_xy":[[0.001961630230763456,-1.6034343050495863],[0.07696163081511309,-1.5953513542483793]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_21","position":[0.4953380098322018,-1.0752583705027507,0.71338606911949],"aabb_xy":[[0.4253380071956153,-1.095363235498616],[0.565338012468788,-1.055153505506885]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.3597929667028324,-0.21191155431483155,0.71338606911949],"aabb_xy":[[-0.39356852589352537,-0.22595004952799658],[-0.3260174075121394,-0.19787305910166653]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_23","position":[0.25229728749557445,-2.1158654127382603,0.71338606911949],"aabb_xy":[[0.2445940968214974,-2.123574783436998],[0.2600004781696515,-2.108156042039522]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.29743587139758476,-1.904346969462034,0.71338606911949],"aabb_xy":[[-0.3083416474851474,-1.984346965860863],[-0.286530095310022,-1.8243469730632047]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_25","position":[0.33266471014984034,1.4764024135635787,0.71338606911949],"aabb_xy":[[0.2826715980406485,1.4264024128893833],[0.38265782225903233,1.5264024142377748]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_26","position":[-0.1400749859381064,-2.254010373318212,0.71338606911949],"aabb_xy":[[-0.15254234404784206,-2.2664756979515355],[-0.12760762782837076,-2.2415450486848885]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.3477122980812161,0.4965309910588518,0.71338606911949],"aabb_xy":[[-0.40771229858906904,0.43968425737293043],[-0.2877122975733632,0.553377724744773]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_28","position":[0.5829858902734459,0.6493331903316535,0.71338606911949],"aabb_xy":[[0.547985892003326,0.6422590626366652],[0.6179858885435658,0.6564073180266415]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_29","position":[-0.12655609958495329,-1.3899458097800155,0.71338606911949],"aabb_xy":[[-0.17154868630340367,-1.434945809054464],[-0.08156351286650285,-1.3449458105055665]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_30","position":[0.24067430049015925,1.7129330477629137,0.71338606911949],"aabb_xy":[[0.21817430024664386,1.7007284131031417],[0.26317430073367465,1.7251376824226856]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_31","position":[0.038994578559267024,-2.2874476695121824,0.71338606911949],"aabb_xy":[[-0.010988371628212317,-2.337447669154742],[0.08897752874674633,-2.237447669869621]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_32","position":[-0.5763569972259097,-1.6505803730262947,0.71338606911949],"aabb_xy":[[-0.6263569988874044,-1.7005788152819974],[-0.5263569955644148,-1.600581930770592]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_33","position":[0.16388899631296028,-2.149820655180636,0.71338606911949],"aabb_xy":[[0.15101709281202014,-2.229820655594472],[0.17676089981390042,-2.0698206547668]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_34","position":[0.13358334039208242,1.2721991465930134,0.71338606911949],"aabb_xy":[[0.11141081341543158,1.2500234794368903],[0.15575586736873326,1.2943748137491364]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6921072479716724,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5778.png","name":"5778"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5778.png","name":"5778"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1989.png","name":"1989"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4068.png","name":"4068"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7542.png","name":"7542"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6148.png","name":"6148"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":603.2440434057947,"rotation_z_degrees":60.26708868364588,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005446694877702361,-0.0006005694354728718,-0.006546456549431876]},{"name":"camera_2","offset_m":[0.006199219384282424,0.010583417410217975,0.0019443237847913512]},{"name":"camera_3","offset_m":[-0.012956860770134106,-0.000909435224457019,-0.002867854030422338]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013058451147876767,0.001696116798296171,4.5844992179560045e-05],"end_effector_yaw_offset_degrees":0.5766816426953838},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0019807011160784893,-0.0012235955344147413,0.0017977448525760974],"end_effector_yaw_offset_degrees":-0.38774040269655985},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00013030405344886418,0.0009340343637032535,0.0018655755022445315],"end_effector_yaw_offset_degrees":-0.42821652226865203},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011352109265965892,0.0018514602080905301,-8.614049813157154e-05],"end_effector_yaw_offset_degrees":-0.8449060048608599},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000966336080893096,-0.0017982550761722123,-0.00034895223322444],"end_effector_yaw_offset_degrees":-0.3703428134887996},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016174918897171554,0.001639690701030237,0.0003849507900450023],"end_effector_yaw_offset_degrees":0.9501206372834068}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00021832864993451533,0.004551522812826013],"position_m":[0.1402816713500655,0.239251522812826,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003979136945407737,-0.00038849815596316267],"position_m":[0.21757913694540776,-0.05408849815596316,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011142132013515884,-0.004360158999016403],"position_m":[0.25021421320135157,-0.38776015899901645,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003259724827373918,-0.004091479148671072],"position_m":[0.3503402751726261,0.11310852085132893,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9ed493d41b34f2db9c3a2ddf039af2619abd44a88feedb878232e758b10c1ccc","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0059.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5778/tex_ceiling_textures_6148/tex_floor_textures_7542/tex_table_textures_1989/tex_wall_textures_4068","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4984393267979186199,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4984393267979186199,"visual_seed":4984393267979186199,"scene_id":"lab_003","finished_at":"2026-09-06T14:25:16"} +{"episode_id":"ep_000059","started_at":"2026-09-06T14:25:23","dimensions":{"distractor":{"count":23,"items":[{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_0","position":[-0.5548019498664847,1.2793533787185178,0.71338606911949],"aabb_xy":[[-0.6448019535434028,1.2179209721414133],[-0.4648019461895664,1.340785785295622]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_1","position":[-0.546835877501076,-2.058561887381386,0.71338606911949],"aabb_xy":[[-0.5635130134941715,-2.075261811355316],[-0.5301587415079805,-2.0418619634074555]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[0.5946111440219606,-0.20896199764062295,0.71338606911949],"aabb_xy":[[0.530611146736312,-0.2504687165934669],[0.6586111413076093,-0.16745527868777899]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_3","position":[0.12978933144971405,1.1714058857191776,0.71338606911949],"aabb_xy":[[0.10728933192600663,1.1489099382685564],[0.15228933097342143,1.193901833169798]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.4424178028970396,0.511268874422524,0.71338606911949],"aabb_xy":[[-0.4599178020314067,0.501389247384936],[-0.42491780376267235,0.5211485014601116]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_5","position":[0.03263332917659645,-2.519885569960982,0.71338606911949],"aabb_xy":[[-0.012645285704552811,-2.5838855693091656],[0.07791194405774571,-2.455885570612798]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_6","position":[0.25046742691334867,-1.8988584355601283,0.71338606911949],"aabb_xy":[[0.21546742860265317,-1.906573450483674],[0.28546742522404406,-1.8911434206365827]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_7","position":[0.5442919120241836,-0.9360067484048868,0.71338606911949],"aabb_xy":[[0.47929191198988086,-0.9827074250852141],[0.6092919120584863,-0.8893060717245596]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_8","position":[-0.22467876647998697,-0.14233433862602718,0.71338606911949],"aabb_xy":[[-0.23071577948065172,-0.14836103969497538],[-0.21864175347932227,-0.13630763755707898]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.5273915704295602,1.733002531847235,0.71338606911949],"aabb_xy":[[-0.561854048442648,1.7263388546643124],[-0.4929290924164724,1.7396662090301578]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_10","position":[0.3916740755023893,-2.530009301338082,0.71338606911949],"aabb_xy":[[0.3276740769158168,-2.5770162647375905],[0.4556740740889617,-2.483002337938573]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_11","position":[-0.45733956813650345,-1.4496484416015778,0.71338606911949],"aabb_xy":[[-0.49111512732719637,-1.4636869368147427],[-0.4235640089458104,-1.4356099463884129]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_12","position":[-0.41758056824949796,-0.30568919567716435,0.71338606911949],"aabb_xy":[[-0.4220111976043382,-0.311137567411847],[-0.41314993889465784,-0.3002408239424818]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.21370385690112897,0.26807433800513936,0.71338606911949],"aabb_xy":[[-0.27770386019083704,0.2247394190012217],[-0.14970385361142083,0.3114092570090569]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.44068230973963374,1.1623426883436587,0.71338606911949],"aabb_xy":[[0.4072421345436141,1.1288990625127282],[0.4741224849356533,1.1957863141745884]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[-0.6563907124765993,1.692187969183959,0.71338606911949],"aabb_xy":[[-0.6672423187254749,1.681328678456308],[-0.6455391062277237,1.70304725991161]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_16","position":[-0.39619100357403997,-1.1709468514071584,0.71338606911949],"aabb_xy":[[-0.43895771045346016,-1.2349468548289608],[-0.3534242966946198,-1.106946847985356]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[0.07326892170571475,-1.7073701498151805,0.71338606911949],"aabb_xy":[[0.009268919362913184,-1.7523110010593128],[0.1372689240485163,-1.6624292985710478]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.33552033086988653,-0.568676723351937,0.71338606911949],"aabb_xy":[[-0.34363398554326363,-0.576782539805966],[-0.3274066761965094,-0.5605709068979079]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.19800774068807747,-1.2377267276227926,0.71338606911949],"aabb_xy":[[0.1480146285788856,-1.2877267282969884],[0.24800085279726938,-1.1877267269485972]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_20","position":[-0.09184758102847401,1.2915384819572018,0.71338606911949],"aabb_xy":[[-0.155847583078206,1.251443998867894],[-0.027847578978742016,1.33163296504651]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_21","position":[0.12237800840202995,-2.2867862461704425,0.71338606911949],"aabb_xy":[[0.03865578290194749,-2.3767862497051384],[0.2061002339021124,-2.1967862426357465]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.4194383446712464,-1.1453455190508255,0.71338606911949],"aabb_xy":[[0.4090267859907626,-1.1506912523867239],[0.42984990335173,-1.139999785714927]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6922794998194421,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6344.png","name":"6344"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7338.png","name":"7338"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8233.png","name":"8233"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5085.png","name":"5085"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8839.png","name":"8839"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":667.9426440668055,"rotation_z_degrees":140.91563918780244,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002350237940081025,-0.0008374316968024348,-0.016662996394260114]},{"name":"camera_2","offset_m":[0.0030420429907589697,-0.008749593270378187,0.0008373859350997923]},{"name":"camera_3","offset_m":[0.0041988661236734524,-0.0164253234772248,0.00024116375072439147]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010312845130897616,0.0001070291845267279,-0.0011002715168634807],"end_effector_yaw_offset_degrees":0.572733493996356},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007950941268910837,0.0005004562619332124,0.0005845714319272573],"end_effector_yaw_offset_degrees":-0.15228475840058242},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001143205725009552,0.00011008836837117595,0.00010045727830173016],"end_effector_yaw_offset_degrees":0.7771875945017319},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001346421338332958,0.0006985636730488759,-0.0007964447876129838],"end_effector_yaw_offset_degrees":-0.5073488028338189},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001822057480264345,0.0008275211921748415,-0.0013931184630275126],"end_effector_yaw_offset_degrees":0.384247397109291},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001066328303936004,1.554703122557668e-05,0.0014425841935595558],"end_effector_yaw_offset_degrees":-0.5270974059018094}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00283403438208902,-0.0001917170535596412],"position_m":[0.14333403438208903,0.23450828294644036,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023573326754824557,0.0031018147851222732],"position_m":[0.21595733267548248,-0.050598185214877724,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0020934661874295046,-0.003216985270160161],"position_m":[0.2511934661874295,-0.3866169852701602,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013601692801783558,-0.004172996107150801],"position_m":[0.3549601692801784,0.1130270038928492,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6ef7c645933d9c3ac76ce13e49f50b11e938dc2000de5e86b3e6c386fa625967","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0060.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_6344/tex_ceiling_textures_8839/tex_floor_textures_5085/tex_table_textures_7338/tex_wall_textures_8233","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7934832812141814555,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7934832812141814555,"visual_seed":7934832812141814555,"scene_id":"lab_003","finished_at":"2026-09-06T14:31:32"} +{"episode_id":"ep_000060","started_at":"2026-09-06T14:31:39","dimensions":{"distractor":{"count":27,"items":[{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_0","position":[-0.037895582139107375,-1.8614018116839033,0.71338606911949],"aabb_xy":[[-0.043233157805111944,-1.886401812613043],[-0.03255800647310281,-1.8364018107547635]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_1","position":[0.6402099566205861,-0.7521568970792332,0.71338606911949],"aabb_xy":[[0.5752099584646672,-0.7784531416291453],[0.7052099547765053,-0.7258606525293209]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.02475467931034192,1.1615021327801736,0.71338606911949],"aabb_xy":[[0.011308152676298588,1.1480322811270822],[0.03820120594438525,1.174971984433265]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_3","position":[0.5405419241096194,-1.8794148759663951,0.71338606911949],"aabb_xy":[[0.5326186438708711,-1.9019148762043985],[0.5484652043483678,-1.8569148757283918]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_4","position":[0.16238995098446263,1.1292543495578657,0.71338606911949],"aabb_xy":[[0.15323007204058603,1.1227231315143287],[0.17154982992833923,1.1357855676014028]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[0.21340318955737891,-0.7775313462780207,0.71338606911949],"aabb_xy":[[0.20944270578764454,-0.7851992108635413],[0.2173636733271133,-0.7698634816925001]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[-0.5881279499880542,1.5848316719526996,0.71338606911949],"aabb_xy":[[-0.6131279499205721,1.577949003731776],[-0.5631279500555363,1.5917143401736227]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_7","position":[-0.21096858684674125,1.566243096210441,0.71338606911949],"aabb_xy":[[-0.2197498139939775,1.5574633489219112],[-0.20218735969950505,1.5750228434989717]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[0.5061115149571076,1.5744434602363149,0.71338606911949],"aabb_xy":[[0.4836115144450669,1.5519516018709163],[0.5286115154691481,1.596935318601713]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_9","position":[0.6903258578340787,-0.32636693839342046,0.71338606911949],"aabb_xy":[[0.6726930222405512,-0.34398988440904343],[0.7079586934276063,-0.3087439923777975]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_10","position":[-0.5997519709765948,-1.695772256123455,0.71338606911949],"aabb_xy":[[-0.6084659400265291,-1.7182722567826427],[-0.5910380019266601,-1.6732722554642663]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_11","position":[-0.5625150265750977,-0.17282001562525506,0.71338606911949],"aabb_xy":[[-0.5827993292984963,-0.19310264076796385],[-0.5422307238516988,-0.15253739048254616]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.03192236600175924,-2.035402458249145,0.71338606911949],"aabb_xy":[[-0.04935308108076574,-2.052674572912995],[-0.014491650922752728,-2.018130343585293]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[0.1847133346156914,-1.218110005211717,0.71338606911949],"aabb_xy":[[0.11971333673404361,-1.2692336689182582],[0.2497133324973392,-1.1669863415051764]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.05586926759571287,-1.0810450497594388,0.71338606911949],"aabb_xy":[[-0.08086926686767515,-1.0973904133556012],[-0.030869268323750598,-1.0646996861632765]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_15","position":[-0.384277449071181,-1.5702154179407102,0.71338606911949],"aabb_xy":[[-0.44827745074917835,-1.6187328094200242],[-0.32027744739318365,-1.5216980264613957]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_16","position":[-0.0956713502734059,0.40460830468911846,0.71338606911949],"aabb_xy":[[-0.13270545970146558,0.37023109735540893],[-0.05863724084534617,0.4389855120228279]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[0.2330774674678242,-1.5250239988126912,0.71338606911949],"aabb_xy":[[0.21557746720848764,-1.5391155410014643],[0.2505774677271609,-1.510932456623919]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_18","position":[-0.6648490174729688,-0.9790491863149804,0.71338606911949],"aabb_xy":[[-0.684907429086209,-0.999114273224138],[-0.6447906058597285,-0.958984099405823]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[0.41864855106563326,-1.2404041424012966,0.71338606911949],"aabb_xy":[[0.4015464731072651,-1.2575109479325666],[0.4357506290240014,-1.223297336870027]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_20","position":[0.3618053835551398,-0.6996366572433039,0.71338606911949],"aabb_xy":[[0.3443053844207726,-0.7095162842808916],[0.3793053826895069,-0.689757030205716]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[-0.29195109663126756,-0.3368755651274551,0.71338606911949],"aabb_xy":[[-0.3144510961549749,-0.3593715125780758],[-0.2694510971075601,-0.31437961767683426]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_22","position":[0.2972798741652394,-1.735478715473135,0.71338606911949],"aabb_xy":[[0.20727987183122032,-1.8129610700582477],[0.38727987649925844,-1.6579963608880224]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_23","position":[-0.5113849418799478,1.6841776888904172,0.71338606911949],"aabb_xy":[[-0.5229539226268843,1.6591776887734857],[-0.4998159611330112,1.7091776890073491]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_24","position":[0.5532178340446827,0.5750902158672306,0.71338606911949],"aabb_xy":[[0.5032228230852308,0.525090216831639],[0.6032128450041349,0.6250902149028225]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[-0.5269621913418157,-2.0564109587352544,0.71338606911949],"aabb_xy":[[-0.5494586127756798,-2.078910958542002],[-0.5044657699079516,-2.033910958928507]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_26","position":[-0.45102822626745825,-2.219295845225149,0.71338606911949],"aabb_xy":[[-0.4679389587038,-2.2327680508177634],[-0.4341174938311164,-2.205823639632534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6938212926322657,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7000.png","name":"7000"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7000.png","name":"7000"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6815.png","name":"6815"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3479.png","name":"3479"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9457.png","name":"9457"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6678.png","name":"6678"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":831.3168711394136,"rotation_z_degrees":136.18508559143712,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005997716534187295,0.0016957090615446237,-0.0133405996120185]},{"name":"camera_2","offset_m":[7.82071750242766e-06,-0.004717128051229667,-0.0016518849972830714]},{"name":"camera_3","offset_m":[0.005848511106360723,0.0006003577180373025,-0.00987875627205283]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001672257766935091,-0.0013696296837968972,-0.0003446797266471178],"end_effector_yaw_offset_degrees":0.03229677360316274},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0008776878798615476,-0.0001101702491201615,0.0001852536086388414],"end_effector_yaw_offset_degrees":-0.7386435838576679},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010030429161245972,-0.0019393054707929163,-0.000421441939017285],"end_effector_yaw_offset_degrees":-0.3481565190759093},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003082640402595218,0.0011499581059438995,-0.0019336862174814758],"end_effector_yaw_offset_degrees":-0.8406176469865523},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010298680681733617,-0.00139863542248313,0.00099874778728092],"end_effector_yaw_offset_degrees":-0.3478194867720956},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-9.108342515399084e-05,-5.349135021209014e-05,0.0009736429712351746],"end_effector_yaw_offset_degrees":-0.8761439647962497}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002696354138204997,-0.004554653912305105],"position_m":[0.13780364586179503,0.23014534608769488,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003252491413644383,-0.0020852247886916707],"position_m":[0.21034750858635562,-0.05578522478869167,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003453263807338464,-0.003957927215378596],"position_m":[0.25255326380733845,-0.3873579272153786,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031280469545870017,0.0031739781188610166],"position_m":[0.350471953045413,0.12037397811886101,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a0d00affc6908082b9881ba055afbd38b21c97992081817d6a33044a399fe6f","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_7000/tex_ceiling_textures_6678/tex_floor_textures_9457/tex_table_textures_6815/tex_wall_textures_3479","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1330046755370638132,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1330046755370638132,"visual_seed":1330046755370638132,"scene_id":"lab_003","finished_at":"2026-09-06T14:37:59"} +{"episode_id":"ep_000061","started_at":"2026-09-06T14:38:04","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_0","position":[0.05264238970122781,-1.4065446266616024,0.71338606911949],"aabb_xy":[[-0.017357612935358535,-1.426649491657468],[0.12264239233781415,-1.386439761665737]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_1","position":[-0.16865435285742658,-1.8682362797176224,0.71338606911949],"aabb_xy":[[-0.2055049007944142,-1.9057362805406561],[-0.13180380492043897,-1.8307362788945887]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_2","position":[-0.29409513942379045,-1.6965614694672386,0.71338606911949],"aabb_xy":[[-0.31659513966730585,-1.7087661041270108],[-0.27159513918027506,-1.684356834807467]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_3","position":[0.11938317033466861,-2.3695012804298408,0.71338606911949],"aabb_xy":[[0.09610132813653725,-2.4545012817270684],[0.14266501253279992,-2.2845012791326123]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_4","position":[-0.45626150723345216,0.8024015546294039,0.71338606911949],"aabb_xy":[[-0.5362615104912951,0.7224050468374199],[-0.37626150397560926,0.8823980624213879]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.633731653464136,0.9722844550258256,0.71338606911949],"aabb_xy":[[-0.6712316535697288,0.9654622931728444],[-0.5962316533585429,0.9791066168788066]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.5915615208179693,0.5778909954898266,0.71338606911949],"aabb_xy":[[-0.6034336038294704,0.49289099579617623],[-0.5796894378064682,0.6628909951834769]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_7","position":[-0.5724251408214096,-2.4885106104047314,0.71338606911949],"aabb_xy":[[-0.6374251434592031,-2.539990209104178],[-0.5074251381836161,-2.437031011705284]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_8","position":[0.16675182860655913,-1.2709148281107339,0.71338606911949],"aabb_xy":[[0.13175183029586368,-1.2786298430342793],[0.20175182691725457,-1.263199813187188]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_9","position":[-0.28447337680391194,0.11297621685339454,0.71338606911949],"aabb_xy":[[-0.29260106499722516,0.10406260844268689],[-0.2763456886105987,0.12188982526410219]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.2068149615487081,0.7241582243016356,0.71338606911949],"aabb_xy":[[-0.2293113829825722,0.7016582244948881],[-0.184318540114844,0.746658224108383]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[0.46357872069911044,-1.199717401593586,0.71338606911949],"aabb_xy":[[0.44847641923809217,-1.2148189232246476],[0.47868102216012837,-1.1846158799625237]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_12","position":[0.5115377794151978,-0.04795182194434977,0.71338606911949],"aabb_xy":[[0.49403778013711097,-0.06528992201069572],[0.5290377786932847,-0.03061372187800382]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_13","position":[-0.6281641124794419,-1.5117458910760486,0.71338606911949],"aabb_xy":[[-0.6781429209897577,-1.5617458910817674],[-0.5781853039691259,-1.4617458910703298]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_14","position":[0.04118516588758603,-1.7917613563330321,0.71338606911949],"aabb_xy":[[-0.02281483139806262,-1.833268075285876],[0.10518516317323467,-1.7502546373801882]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.4775143893246556,-1.9719366813778194,0.71338606911949],"aabb_xy":[[0.44001439090125527,-1.9851008953456497],[0.515014387748056,-1.9587724674099882]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_16","position":[0.06289613713769937,1.2536491858281926,0.71338606911949],"aabb_xy":[[-0.0011038632398342463,1.2039039189773804],[0.126896137515233,1.303394452679005]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_17","position":[0.307681209843389,-1.667035329198801,0.71338606911949],"aabb_xy":[[0.22268121142596575,-1.751909624661086],[0.3926812082608122,-1.582161033736516]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_18","position":[-0.34135597080362573,0.5078238960294357,0.71338606911949],"aabb_xy":[[-0.38237391418999656,0.45782389539847834],[-0.3003380274172548,0.557823896660393]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_19","position":[-0.1755278175396895,1.6018189627701749,0.71338606911949],"aabb_xy":[[-0.1825681274732265,1.521818963370504],[-0.16848750760615253,1.6818189621698467]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_20","position":[0.5667202141181289,0.4681127641761713,0.71338606911949],"aabb_xy":[[0.5117202149415393,0.4131230894012137],[0.6217202132947183,0.523102438951129]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_21","position":[0.2322356105713469,-1.4782127560576304,0.71338606911949],"aabb_xy":[[0.22087387591806068,-1.4895812224639182],[0.243597345224633,-1.466844289651342]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_22","position":[-0.6047939888091273,-0.0656129810439392,0.71338606911949],"aabb_xy":[[-0.6687939890695981,-0.11062178039686721],[-0.5407939885486565,-0.020604181691011202]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_23","position":[-0.38317975377703173,-2.1887979938762157,0.71338606911949],"aabb_xy":[[-0.4166199289730513,-2.222241619707145],[-0.34973957858101207,-2.1553543680452854]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_24","position":[-0.026048835598288855,-2.3422473825561942,0.71338606911949],"aabb_xy":[[-0.034263380713972835,-2.3509239728538347],[-0.017834290482604875,-2.333570792258552]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_25","position":[-0.20067924559157302,-0.29989736110514587,0.71338606911949],"aabb_xy":[[-0.20871558029285786,-0.30793548040956265],[-0.19264291089028818,-0.2918592418007291]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_26","position":[-0.42905643039557984,0.34150446677071233,0.71338606911949],"aabb_xy":[[-0.43536852993191827,0.33573752751749353],[-0.4227443308592414,0.34727140602393114]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_27","position":[-0.24803032704812944,1.2532157462987081,0.71338606911949],"aabb_xy":[[-0.3380303307250475,1.1917833397216033],[-0.1580303233712112,1.314648152875812]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_28","position":[0.6508738951917932,0.9561427033122212,0.71338606911949],"aabb_xy":[[0.6376429496571118,0.9429152842902216],[0.6641048407264744,0.9693701223342205]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_29","position":[-0.19853954831632648,0.5524801743403418,0.71338606911949],"aabb_xy":[[-0.2360395482600929,0.5441870843055052],[-0.1610395483725601,0.5607732643751784]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_30","position":[-0.6375100447662064,1.3554485936944953,0.71338606911949],"aabb_xy":[[-0.6544207772025481,1.3419763881018805],[-0.6205993123298645,1.3689207992871097]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_31","position":[-0.4642556872502317,-0.7929327158561099,0.71338606911949],"aabb_xy":[[-0.5142556868265664,-0.842913294808216],[-0.41425568767389703,-0.7429521369040041]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_32","position":[0.12531817385605226,1.545855045093235,0.71338606911949],"aabb_xy":[[0.04531817278293193,1.5360769987558505],[0.2053181749291726,1.5556330914306193]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_33","position":[0.2965221471833648,-0.5128744970692791,0.71338606911949],"aabb_xy":[[0.2590221486077439,-0.525610792732837],[0.33402214575898553,-0.5001382014057211]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_34","position":[-0.11025932145422057,1.4311476359623474,0.71338606911949],"aabb_xy":[[-0.12775925488820394,1.4136476360421126],[-0.09275938802023719,1.4486476358825817]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6919093997259469,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6546.png","name":"6546"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6546.png","name":"6546"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2608.png","name":"2608"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4338.png","name":"4338"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2603.png","name":"2603"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5279.png","name":"5279"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":655.8793769316553,"rotation_z_degrees":35.64544438286409,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018567806601208037,-0.012097168733668076,0.009500151498429248]},{"name":"camera_2","offset_m":[-0.005246226592576772,-0.00781282628000068,0.01683926293197643]},{"name":"camera_3","offset_m":[-0.016800655921879324,0.0038415607789837047,-0.012444117853916943]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008355559673822867,0.0002705841866792653,6.768296517053757e-05],"end_effector_yaw_offset_degrees":0.372766380263146},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0005596722488413594,-0.001407989155084931,-0.0008484377351605673],"end_effector_yaw_offset_degrees":-0.897167959625951},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017036456096579462,-0.0013609305040229763,-0.001847906543791169],"end_effector_yaw_offset_degrees":-0.5349306724387697},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00019751141891983463,-0.0017247244853992902,-0.00021879614290013145],"end_effector_yaw_offset_degrees":-0.5420530456963262},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0003759004395667968,-0.0019021146866191239,-0.0002576783175480975],"end_effector_yaw_offset_degrees":0.9308699139759542},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012722790477625733,0.0018313863472775105,0.0004539664241088458],"end_effector_yaw_offset_degrees":0.2474527208954418}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00043936026364350695,0.004927351954033894],"position_m":[0.1409393602636435,0.2396273519540339,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004440917438417941,-0.0030450988669187885],"position_m":[0.20915908256158208,-0.05674509886691879,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004234670814671714,0.0006511618818722175],"position_m":[0.2533346708146717,-0.3827488381181278,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0017813600001289356,-0.0027026947796703216],"position_m":[0.35181863999987106,0.11449730522032968,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"857edb1fd51b27919405d04d26d8e53bfeee666ad05d5e035fcd4ef8b9b12ce9","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6546/tex_ceiling_textures_5279/tex_floor_textures_2603/tex_table_textures_2608/tex_wall_textures_4338","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7399301184244624110,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7399301184244624110,"visual_seed":7399301184244624110,"scene_id":"lab_003","finished_at":"2026-09-06T14:44:06"} +{"episode_id":"ep_000062","started_at":"2026-09-06T14:44:12","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.5377068843724984,-1.5939969233112876,0.71338606911949],"aabb_xy":[[0.5093771744239581,-1.5984576655050047],[0.5660365943210386,-1.5895361811175706]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_1","position":[0.5920380458476191,-1.695482541221117,0.71338606911949],"aabb_xy":[[0.5570380444961373,-1.7158422771779376],[0.6270380471991007,-1.675122805264296]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_2","position":[-0.5519962791307161,0.5268832300189459,0.71338606911949],"aabb_xy":[[-0.5678807723960413,0.5125302897201218],[-0.536111785865391,0.5412361703177699]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_3","position":[-0.44649750980807973,-0.23362395219981513,0.71338606911949],"aabb_xy":[[-0.5014975080098245,-0.2741459188262527],[-0.3914975116063349,-0.19310198557337754]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[-0.5818487902396724,0.40660833223349346,0.71338606911949],"aabb_xy":[[-0.6271274051208217,0.34260833288530973],[-0.5365701753585231,0.4706083315816771]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_5","position":[-0.14932710085921153,-2.2989410899271228,0.71338606911949],"aabb_xy":[[-0.22932709801878678,-2.31048869088494],[-0.06932710369963621,-2.2873934889693057]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_6","position":[0.2803419400423137,1.2975387118916553,0.71338606911949],"aabb_xy":[[0.2553419408766806,1.2905864661862987],[0.30534193920794683,1.3044909575970118]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_7","position":[0.5498942046209767,-2.4092819424968743,0.71338606911949],"aabb_xy":[[0.49992091061771626,-2.4592819430514212],[0.5998674986242372,-2.3592819419423265]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_8","position":[0.2724228492473142,-0.821658940963919,0.71338606911949],"aabb_xy":[[0.22232538526624057,-0.8856589414737308],[0.3225203132283878,-0.7576589404541072]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_9","position":[-0.6226124262303679,-1.7549490098279956,0.71338606911949],"aabb_xy":[[-0.6296527361639049,-1.8349490092276675],[-0.615572116296831,-1.6749490104283247]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_10","position":[0.3507383991366022,1.0989904772513164,0.71338606911949],"aabb_xy":[[0.3007435662086606,1.0489904783560728],[0.4007332320645438,1.14899047614656]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.3051307856251093,-1.2218472231980217,0.71338606911949],"aabb_xy":[[0.2890688581665916,-1.3068472250106136],[0.3211927130836269,-1.13684722138543]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.663768773456118,0.14471959377790578,0.71338606911949],"aabb_xy":[[-0.6735247629652917,0.13495705971867133],[-0.654012783946944,0.15448212783714022]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.6175187772828357,-0.33860540873332035,0.71338606911949],"aabb_xy":[[0.6126751825216057,-0.34345706121230446],[0.6223623720440656,-0.33375375625433623]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.33416764416148803,0.6484690136357405,0.71338606911949],"aabb_xy":[[0.29825413973649834,0.6125555054189857],[0.3700811485864777,0.684382521852495]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_15","position":[0.5113210187695674,-0.5193808063761689,0.71338606911949],"aabb_xy":[[0.5033275289742855,-0.5273789383166445],[0.5193145085648495,-0.5113826744356933]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_16","position":[-0.13131347853977549,-1.7260343998138206,0.71338606911949],"aabb_xy":[[-0.19531348058950745,-1.7661288829031285],[-0.06731347649004346,-1.6859399167245126]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[-0.3280615386018976,-1.9625865819475545,0.71338606911949],"aabb_xy":[[-0.3459306463563531,-1.9764194899247656],[-0.31019243084744214,-1.9487536739703435]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.47734785390308665,0.2867034803827275,0.71338606911949],"aabb_xy":[[0.3873478571674764,0.23352001706543296],[0.5673478506386969,0.339886943700022]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_19","position":[0.4995994025313897,-0.20937138288704915,0.71338606911949],"aabb_xy":[[0.4760142790674949,-0.27437138513248094],[0.5231845259952845,-0.1443713806416174]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_20","position":[0.06750589087416947,1.385199134271624,0.71338606911949],"aabb_xy":[[0.054274945339488165,1.3719717152496245],[0.08073683640885075,1.3984265532936233]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.12882304560295887,-1.1346108186267032,0.71338606911949],"aabb_xy":[[-0.15132304611499944,-1.1571026769921013],[-0.10632304509091825,-1.1121189602613046]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.5538156403708838,0.5194955338974676,0.71338606911949],"aabb_xy":[[0.519518729353143,0.48519864768752613],[0.5881125513886242,0.5537924201074088]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.36381802113238787,0.5664897773967725,0.71338606911949],"aabb_xy":[[-0.40131802094942143,0.5618515660856307],[-0.3263180213153543,0.5711279887079144]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[0.0920017133199943,-2.3577452367029776,0.71338606911949],"aabb_xy":[[0.037006235499334905,-2.4127452381368846],[0.14699719114065368,-2.3027452352690707]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6904242646458522,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7770.png","name":"7770"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5229.png","name":"5229"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8521.png","name":"8521"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5592.png","name":"5592"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":574.7381056907449,"rotation_z_degrees":226.90512565141108,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016251661715918898,0.01031967684053908,0.0006002351579914925]},{"name":"camera_2","offset_m":[0.002157994332833521,0.016680594863563807,-0.01882041828356008]},{"name":"camera_3","offset_m":[0.005832394295503217,0.018031688309362578,0.005678082313790141]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0001647984097288553,0.0017862320684568747,-0.00014254542573248767],"end_effector_yaw_offset_degrees":0.4939602704407442},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014837689058675636,-0.0018936666983426704,0.0005448991484123871],"end_effector_yaw_offset_degrees":-0.8767511325964772},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007191214586187459,-0.00014499875506189812,-0.0008162847994667391],"end_effector_yaw_offset_degrees":0.6817097158517857},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004070576870904971,0.0012743554055989373,-0.0006572568217488052],"end_effector_yaw_offset_degrees":-0.22429281839107773},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0007353021524283149,-6.730191241469206e-06,-0.0010343989745218787],"end_effector_yaw_offset_degrees":0.6839132339803287},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0010922853870405425,0.0015701799424203242,-0.0002540460321664381],"end_effector_yaw_offset_degrees":0.06278776561819188}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0019537196283982974,-0.003695364680765925],"position_m":[0.13854628037160172,0.23100463531923407,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0005057407421883986,-0.001958908186595605],"position_m":[0.2141057407421884,-0.0556589081865956,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003090788924111851,0.0016132892593810266],"position_m":[0.25219078892411184,-0.381786710740619,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003468692401769909,0.002354167116778192],"position_m":[0.3570686924017699,0.11955416711677819,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"845dfbc9d8fae1bc339cd34444c57109a59db7627aeed2c35db8b473fa4202b3","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0063.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6187/tex_ceiling_textures_5592/tex_floor_textures_8521/tex_table_textures_7770/tex_wall_textures_5229","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1675965181365785388,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1675965181365785388,"visual_seed":1675965181365785388,"scene_id":"lab_003","finished_at":"2026-09-06T14:50:16"} +{"episode_id":"ep_000063","started_at":"2026-09-06T14:50:22","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.5068720668638234,-0.4675825454241722,0.71338606911949],"aabb_xy":[[0.4428720661603541,-0.5136009278970932],[0.5708720675672928,-0.42156416295125126]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_1","position":[-0.48561273657109666,-1.1838843847228124,0.71338606911949],"aabb_xy":[[-0.5081091580049608,-1.20638438452956],[-0.46311631513723256,-1.1613843849160652]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.14782452311487326,-0.6249690648943926,0.71338606911949],"aabb_xy":[[-0.17032452292877565,-0.6294436812648734],[-0.12532452330097088,-0.6204944485239119]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[-0.2551879201970697,1.2393173796066592,0.71338606911949],"aabb_xy":[[-0.3191879194912379,1.175331239237805],[-0.1911879209029015,1.3033035199755134]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[0.5689656762361752,1.104454074504169,0.71338606911949],"aabb_xy":[[0.5089656756401589,1.0496416019589456],[0.6289656768321913,1.1592665470493926]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_5","position":[-0.5222623937441708,-0.6516854357520137,0.71338606911949],"aabb_xy":[[-0.5872623947446713,-0.7024718009066885],[-0.4572623927436703,-0.6008990705973386]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[0.17017141377981526,0.9831368124169977,0.71338606911949],"aabb_xy":[[0.1456577896828094,0.9588722191149612],[0.19468503787682112,1.0074014057190341]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.04216980623722377,-1.3888963650868382,0.71338606911949],"aabb_xy":[[-0.04628575634929643,-1.3930119201196833],[-0.0380538561251511,-1.3847808100539922]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_8","position":[0.2827537190907048,-1.0194647036427198,0.71338606911949],"aabb_xy":[[0.2777976989058236,-1.0419647038448416],[0.28770973927558596,-0.9969647034405984]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_9","position":[0.2854909347357395,-1.6444724522194667,0.71338606911949],"aabb_xy":[[0.22786046584846859,-1.7044724511461766],[0.3431214036230103,-1.5844724532927554]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.014704675468676931,-2.233936978179857,0.71338606911949],"aabb_xy":[[-0.033816982826655795,-2.253071757057099],[0.004407631889301933,-2.214802199302615]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.31165572020544924,-1.55035147200484,0.71338606911949],"aabb_xy":[[-0.37565572225518123,-1.5904459550941477],[-0.24765571815571724,-1.5102569889155317]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_12","position":[0.5500541076813734,-1.2097743702622148,0.71338606911949],"aabb_xy":[[0.48605410439166524,-1.2531092892661322],[0.6140541109710814,-1.166439451258297]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_13","position":[0.18521261933243105,0.6301625117948855,0.71338606911949],"aabb_xy":[[0.12121262290510915,0.5829928879727891],[0.24921261575975295,0.677332135616982]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_14","position":[-0.20434740152319236,0.4457568312189224,0.71338606911949],"aabb_xy":[[-0.21721930502413248,0.3657568308050862],[-0.1914754980222522,0.5257568316327584]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_15","position":[0.6293879477458317,-1.5401576516178852,0.71338606911949],"aabb_xy":[[0.5493879491585122,-1.6194732535560459],[0.709387946333151,-1.460842049679724]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_16","position":[-0.5664748624771612,0.14813752858020646,0.71338606911949],"aabb_xy":[[-0.6039748626490331,0.11543679319729927],[-0.5289748623052892,0.18083826396311364]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_17","position":[-0.5972895556774807,-2.372153594198989,0.71338606911949],"aabb_xy":[[-0.6772895589414938,-2.3857136265079024],[-0.5172895524134675,-2.3585935618900757]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_18","position":[-0.23605310533236606,0.9708526162154163,0.71338606911949],"aabb_xy":[[-0.24476707438230053,0.9483526155562279],[-0.22733913628243155,0.9933526168746043]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_19","position":[0.4026924549619284,1.5588918255288449,0.71338606911949],"aabb_xy":[[0.38051992798527745,1.5367161583727214],[0.42486498193857913,1.5810674926849675]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.11775347667502334,-2.5573299747467546,0.71338606911949],"aabb_xy":[[-0.12596802179070726,-2.566006565044395],[-0.10953893155933933,-2.5486533844491124]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_21","position":[-0.12385755448022717,-1.1197900832382284,0.71338606911949],"aabb_xy":[[-0.17385755584111437,-1.1697679878136438],[-0.07385755311933993,-1.0698121786628125]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_22","position":[0.5905425677085969,0.6179267964802313,0.71338606911949],"aabb_xy":[[0.5105425644507539,0.5379302886882472],[0.6705425709664398,0.6979233042722152]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[-0.5495096053871259,-2.179051871413014,0.71338606911949],"aabb_xy":[[-0.5945096068533547,-2.224051728274495],[-0.504509603920897,-2.134052014551534]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6907128908174984,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5052.png","name":"5052"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5052.png","name":"5052"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2688.png","name":"2688"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2448.png","name":"2448"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/818.png","name":"818"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8406.png","name":"8406"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":623.0565000606139,"rotation_z_degrees":10.812179107759071,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017274160177466382,0.002261409496457093,0.016940114149424323]},{"name":"camera_2","offset_m":[0.019800971401231802,-0.002623127720414734,0.015370679286676386]},{"name":"camera_3","offset_m":[0.010674333042938283,-0.006304874190105765,0.011145057234681996]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0007205234322170892,-0.000466787909766627,0.00039311286097302523],"end_effector_yaw_offset_degrees":0.5244578939625133},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0017023870182084756,-0.00048034015462974553,-0.000782232424911076],"end_effector_yaw_offset_degrees":0.7899982825849932},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014634685190597877,0.0006598638811242319,0.0008641560164307895],"end_effector_yaw_offset_degrees":-0.9122475570098303},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001737151545658214,0.00016257407909523207,0.0007885205460806534],"end_effector_yaw_offset_degrees":0.09023348282249044},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013896186164237207,-0.0014749647043790352,0.0005586508885173235],"end_effector_yaw_offset_degrees":-0.8308284034032152},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013866504507899185,0.0008255197488663073,-0.0005152380887265321],"end_effector_yaw_offset_degrees":0.6248897362018062}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046499124775061336,-0.004863932706971611],"position_m":[0.14514991247750614,0.22983606729302838,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004022935335383681,0.0031181055974558317],"position_m":[0.20957706466461634,-0.05058189440254417,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004177509593619004,-0.004135723671524713],"position_m":[0.2486822490406381,-0.3875357236715247,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002556030418405606,-0.0019475352962423044],"position_m":[0.35615603041840566,0.11525246470375769,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37cef81241bb37ddb79c2a5aeecd69c9190fb650865881af53f561787b880bb2","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0064.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_5052/tex_ceiling_textures_8406/tex_floor_textures_818/tex_table_textures_2688/tex_wall_textures_2448","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8476255631204491078,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8476255631204491078,"visual_seed":8476255631204491078,"scene_id":"lab_003","finished_at":"2026-09-06T14:56:24"} +{"episode_id":"ep_000064","started_at":"2026-09-06T14:56:30","dimensions":{"distractor":{"count":24,"items":[{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_0","position":[-0.541945875887131,-1.134222933140991,0.71338606911949],"aabb_xy":[[-0.5535148566340675,-1.159222933257923],[-0.5303768951401944,-1.1092229330240595]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_1","position":[-0.10198282916962209,0.2828854903064184,0.71338606911949],"aabb_xy":[[-0.11977633610453851,0.26508574471062074],[-0.08418932223470564,0.3006852359022161]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.6393380371423585,0.0792494806132682,0.71338606911949],"aabb_xy":[[0.5922086581405227,0.015249479568866242],[0.686467416144194,0.14324948165767015]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_3","position":[0.3518437973384756,-2.1537959640335207,0.71338606911949],"aabb_xy":[[0.3399717143269745,-2.238795963727171],[0.3637158803499767,-2.0687959643398703]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[-0.5181562544039705,-1.8913051539709356,0.71338606911949],"aabb_xy":[[-0.5831562555099138,-1.916270527039064],[-0.4531562532980272,-1.8663397809028075]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_5","position":[0.2546287198769618,0.6227616193634757,0.71338606911949],"aabb_xy":[[0.23705041768801494,0.605187129789371],[0.27220702206590863,0.6403361089375808]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.4584614725278071,1.4984910886772753,0.71338606911949],"aabb_xy":[[-0.4702296593224647,1.4134910887720538],[-0.44669328573314965,1.583491088582497]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_7","position":[-0.37590044386079075,0.7428323716870451,0.71338606911949],"aabb_xy":[[-0.40041406795779655,0.7185677783850086],[-0.35138681976378483,0.7670969649890815]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[-0.08687241020329906,-1.614253066279657,0.71338606911949],"aabb_xy":[[-0.11933411108522649,-1.6443858983945594],[-0.05441070932137158,-1.5841202341647542]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_9","position":[-0.12043267774342492,-0.7423960928063622,0.71338606911949],"aabb_xy":[[-0.13598844715369018,-0.7579465260507696],[-0.10487690833315966,-0.7268456595619551]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.452594754093965,1.6885010111206804,0.71338606911949],"aabb_xy":[[-0.5025947536702997,1.6385204321685745],[-0.4025947545176303,1.7384815900727864]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.5721946133595123,-1.6541569007233847,0.71338606911949],"aabb_xy":[[-0.5768297285117454,-1.6580242358005333],[-0.5675594982072787,-1.6502895656462357]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_12","position":[0.6422670207147261,0.7218937397565313,0.71338606911949],"aabb_xy":[[0.6341393325214127,0.7129801313458237],[0.6503947089080392,0.730807348167239]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_13","position":[-0.41116411016707965,-1.7361545963335239,0.71338606911949],"aabb_xy":[[-0.4661378322034125,-1.7911545958977568],[-0.3561903881307467,-1.6811545967692905]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[-0.5144535196702671,-0.01235364139486883,0.71338606911949],"aabb_xy":[[-0.5744535205310798,-0.0637800714013552],[-0.4544535188094542,0.03907278861161755]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_15","position":[-0.3090171005646033,-2.1240248976762977,0.71338606911949],"aabb_xy":[[-0.33898465747442896,-2.1540248979741836],[-0.27904954365477763,-2.0940248973784117]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[0.24878746420378106,1.0439268701574678,0.71338606911949],"aabb_xy":[[0.2112874638555533,1.0321354745763842],[0.2862874645520088,1.0557182657385513]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_17","position":[0.06545454655730021,1.2958356628260703,0.71338606911949],"aabb_xy":[[-0.014545455605462276,1.2158804791999263],[0.1454545487200627,1.3757908464522135]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[-0.3709778328287878,0.9097251818462517,0.71338606911949],"aabb_xy":[[-0.45097783148567383,0.8952203229219888],[-0.2909778341719018,0.9242300407705144]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_19","position":[-0.4170195054671295,1.1742306502440432,0.71338606911949],"aabb_xy":[[-0.424280753037537,1.1614436399805337],[-0.40975825789672216,1.1870176605075526]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[0.49967650922692797,-2.1908834853515344,0.71338606911949],"aabb_xy":[[0.47721173925552285,-2.213383486230395],[0.5221412791983331,-2.168383484472674]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.46617608193951354,0.15315735091092986,0.71338606911949],"aabb_xy":[[-0.5161760836010082,0.10315890865522713],[-0.4161760802780187,0.20315579316663254]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[0.3896729449197178,0.7897797108142295,0.71338606911949],"aabb_xy":[[0.3832591312765328,0.783369890566561],[0.3960867585629027,0.7961895310618977]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_23","position":[0.3648778288108112,-1.502924596047806,0.71338606911949],"aabb_xy":[[0.30087783241523813,-1.5668878844665393],[0.4288778252063843,-1.4389613076290722]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900529758501792,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6218.png","name":"6218"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1205.png","name":"1205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6103.png","name":"6103"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1406.png","name":"1406"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3164.png","name":"3164"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":628.2994240017075,"rotation_z_degrees":87.30891674371185,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0037644236576163635,-1.6673600206306566e-05,-0.004901148549545674]},{"name":"camera_2","offset_m":[0.001945660455103214,0.005833781503686186,-0.01349355751181335]},{"name":"camera_3","offset_m":[0.014692767417840733,0.018895702643625525,-0.016039323425257334]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011949868109092706,0.0010923041213170863,-0.001655574983494446],"end_effector_yaw_offset_degrees":-0.27254616596858927},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[4.812896656695986e-05,-0.0007364278047713726,-0.0007302281637409681],"end_effector_yaw_offset_degrees":0.1584124611774087},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001777344962560874,0.0008776773958325108,0.001367245049896749],"end_effector_yaw_offset_degrees":0.5111038810086399},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009292706830565838,0.001864528214025578,0.0018736608188521793],"end_effector_yaw_offset_degrees":-0.20399621372079246},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011079436360277545,4.84688493409156e-05,0.0010329615620211143],"end_effector_yaw_offset_degrees":0.8507223704571973},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0016786922204394732,-0.00015764489100194147,0.0006906419898853218],"end_effector_yaw_offset_degrees":0.9578530879207188}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.6638695265489166e-05,2.0916450181208447e-05],"position_m":[0.1405466386952655,0.2347209164501812,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018992537410883747,-0.003572315149530083],"position_m":[0.21170074625891164,-0.05727231514953008,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004752144861657368,0.004804676362853246],"position_m":[0.25385214486165736,-0.37859532363714676,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002427439739584815,-0.0010993205379994518],"position_m":[0.3511725602604152,0.11610067946200055,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d754d41a8b30cecd0992670a26a483acd400f1265250a0e911329f5c6e106afd","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0065.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6218/tex_ceiling_textures_3164/tex_floor_textures_1406/tex_table_textures_1205/tex_wall_textures_6103","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7343874094411369531,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7343874094411369531,"visual_seed":7343874094411369531,"scene_id":"lab_003","finished_at":"2026-09-06T15:02:33"} +{"episode_id":"ep_000065","started_at":"2026-09-06T15:09:18","dimensions":{"distractor":{"count":27,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[-0.16504126329235047,1.436194786311606,0.71338606911949],"aabb_xy":[[-0.2023725398175931,1.4015417315167538],[-0.12770998676710785,1.4708478411064583]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_1","position":[0.2758964681881958,1.2394172542779969,0.71338606911949],"aabb_xy":[[0.26948265454501075,1.2330074340303283],[0.2823102818313806,1.245827074525665]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_2","position":[0.3886792411241802,1.7469740570386425,0.71338606911949],"aabb_xy":[[0.3799652720742456,1.7244740563794538],[0.39739321017411455,1.7694740576978303]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_3","position":[0.4870963092611358,-0.5752271048329578,0.71338606911949],"aabb_xy":[[0.48214028907625467,-0.5977271050350794],[0.492052329446017,-0.5527271046308362]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.24520013987865996,-0.9126013102081294,0.71338606911949],"aabb_xy":[[0.16520013960505295,-0.9855508580338461],[0.3252001401522669,-0.8396517623824127]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_5","position":[-0.10795136310856712,-2.0284458483368004,0.71338606911949],"aabb_xy":[[-0.1254512965425505,-2.0459458482570345],[-0.09045142967458374,-2.0109458484165654]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[-0.4945751736233035,1.2770247204127547,0.71338606911949],"aabb_xy":[[-0.5063433604179611,1.1920247205075332],[-0.4828069868286461,1.3620247203179763]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_7","position":[0.2058910354097785,1.4475015572004595,0.71338606911949],"aabb_xy":[[0.13589103899981667,1.4270636215487775],[0.27589103181974023,1.467939492852141]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_8","position":[-0.41384656523369656,-1.4897458719372063,0.71338606911949],"aabb_xy":[[-0.44728674042971617,-1.5231894977681362],[-0.38040639003767696,-1.456302246106276]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_9","position":[-0.08634166987400305,1.0544895043102094,0.71338606911949],"aabb_xy":[[-0.12384167004587497,1.021788768927302],[-0.048841669702131094,1.0871902396931163]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_10","position":[-0.18526701832544046,-0.980039084949307,0.71338606911949],"aabb_xy":[[-0.19611862457431606,-0.9908983756769579],[-0.17441541207656486,-0.9691797942216559]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_11","position":[-0.32505871111312007,1.0902650836278256,0.71338606911949],"aabb_xy":[[-0.3890587113735908,1.0452562842748976],[-0.2610587108526492,1.1352738829807536]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[-0.582322397974891,0.8500763372153664,0.71338606911949],"aabb_xy":[[-0.632315510084083,0.800076336541171],[-0.5323292858656993,0.9000763378895623]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[-0.19540570721179945,0.3813007602809617,0.71338606911949],"aabb_xy":[[-0.24540570678813417,0.3313201813288559],[-0.14540570763546473,0.4312813392330678]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_14","position":[-0.5491726032765369,0.3263482750485944,0.71338606911949],"aabb_xy":[[-0.5573871483922208,0.3176716847509531],[-0.5409580581608529,0.33502486534623566]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[0.3392324238230835,-1.432481149248285,0.71338606911949],"aabb_xy":[[0.3245890182690505,-1.447139868905069],[0.3538758293771165,-1.4178224295915005]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_16","position":[-0.5742854048030251,-1.1213801319894527,0.71338606911949],"aabb_xy":[[-0.5791846971095885,-1.1490570512920215],[-0.5693861124964615,-1.093703212686884]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_17","position":[0.07865941058713055,1.1570420663138372,0.71338606911949],"aabb_xy":[[0.06098377999853221,1.1393618500344342],[0.09633504117572887,1.1747222825932397]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_18","position":[-0.2718912611117796,0.9447267655667662,0.71338606911949],"aabb_xy":[[-0.28130873568164233,0.9353105884290471],[-0.26247378654191683,0.9541429427044852]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[0.22739956332151956,-2.09603833907477,0.71338606911949],"aabb_xy":[[0.16340386592642292,-2.1600383373754783],[0.2913952607166161,-2.032038340774061]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_20","position":[-0.5005429819945006,-0.30557641205245956,0.71338606911949],"aabb_xy":[[-0.5350054600075883,-0.3122400892353824],[-0.46608050398141276,-0.29891273486953673]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_21","position":[0.6304370858911053,-2.1761058873009613,0.71338606911949],"aabb_xy":[[0.5504370888768573,-2.196240438974373],[0.7104370829053532,-2.15597133562755]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_22","position":[-0.6094185593723913,1.0685060532451889,0.71338606911949],"aabb_xy":[[-0.6245907286540248,1.0533371963169855],[-0.5942463900907581,1.0836749101733922]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_23","position":[0.18293872944381995,-2.3652356406568185,0.71338606911949],"aabb_xy":[[0.1788605715367702,-2.3693166209050815],[0.1870168873508697,-2.3611546604085554]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_24","position":[-0.42923886576670905,-1.679938311531684,0.71338606911949],"aabb_xy":[[-0.4400793439932239,-1.6971245928223326],[-0.4183983875401941,-1.6627520302410352]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_25","position":[-0.4068747441001687,-1.971967216874013,0.71338606911949],"aabb_xy":[[-0.4568747444607347,-2.0219472040836157],[-0.3568747437396026,-1.9219872296644103]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_26","position":[0.5414479043254234,-2.376978170590193,0.71338606911949],"aabb_xy":[[0.5151590800049827,-2.4032496042448437],[0.567736728645864,-2.350706736935541]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6856491187118857,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7105.png","name":"7105"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7105.png","name":"7105"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7001.png","name":"7001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/104.png","name":"104"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1931.png","name":"1931"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4688.png","name":"4688"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":718.9995149623408,"rotation_z_degrees":99.73014052446786,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018446334031688234,-0.006064742725956274,0.01577758646683491]},{"name":"camera_2","offset_m":[-0.01801569393931881,0.016583772201508622,-0.014590049936474708]},{"name":"camera_3","offset_m":[-0.002978186815235439,0.01853852718324524,-0.005040592200321426]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011946674432953893,-0.0003988314671103774,-0.0009484168401313262],"end_effector_yaw_offset_degrees":-0.08498416100684603},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012478417232001438,-0.0009390582868549937,-0.001310250529381734],"end_effector_yaw_offset_degrees":-0.60411448927486},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008363021674444018,-0.0016424184444185906,-0.0017511408372904871],"end_effector_yaw_offset_degrees":-0.4792223617890867},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00189559114475772,-0.00022061801810988415,0.0004870256427605894],"end_effector_yaw_offset_degrees":0.31119406334655286},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00048088986845087954,0.0017751429002207035,0.0010552983985984122],"end_effector_yaw_offset_degrees":-0.29545947519170546},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0004069374650130485,0.0015566427506820703,-0.000703863340267239],"end_effector_yaw_offset_degrees":-0.3841727681824383}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00396450288080609,0.00010167140206852193],"position_m":[0.1365354971191939,0.2348016714020685,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007789162763101685,-0.0021649972559456823],"position_m":[0.21437891627631017,-0.05586499725594568,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033896800179380837,0.0005110145606700874],"position_m":[0.24571031998206191,-0.3828889854393299,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00020973189849633148,0.0045985436039774836],"position_m":[0.3533902681015037,0.12179854360397749,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8ea06548ae1f843ff9b288ee570769a40aeca0e470d8c0d7fe07f05b53bdf230","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_7105/tex_ceiling_textures_4688/tex_floor_textures_1931/tex_table_textures_7001/tex_wall_textures_104","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8679850422053395698,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8679850422053395698,"visual_seed":8679850422053395698,"scene_id":"lab_003","finished_at":"2026-09-06T15:15:09"} +{"episode_id":"ep_000066","started_at":"2026-09-06T15:15:15","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.09244429831049483,0.38866961078674356,0.71338606911949],"aabb_xy":[[-0.15744429619214265,0.33754594708020264],[-0.027444300428847053,0.4397932744932844]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.4969603317727467,-0.9075833127034667,0.71338606911949],"aabb_xy":[[-0.5144603310508336,-0.9249214127698125],[-0.4794603324946598,-0.8902452126371206]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_2","position":[-0.16977374825945524,-1.715041829109827,0.71338606911949],"aabb_xy":[[-0.23377374863698885,-1.764787095960639],[-0.10577374788192162,-1.6652965622590146]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.441771133907754,-0.020527224530168642,0.71338606911949],"aabb_xy":[[-0.4515271234169279,-0.03028975858940308],[-0.43201514439858013,-0.010764690470934198]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_4","position":[-0.4522682097373679,0.6789209323491727,0.71338606911949],"aabb_xy":[[-0.5322682077181529,0.6713193913873207],[-0.37226821175658287,0.6865224733110246]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_5","position":[0.4557036597867481,-0.22635847667730813,0.71338606911949],"aabb_xy":[[0.3907036586808048,-0.2513238497454364],[0.5207036608926914,-0.20139310360917984]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_6","position":[-0.08999867766247993,-1.0260780477195042,0.71338606911949],"aabb_xy":[[-0.12749867845447538,-1.0324458886776942],[-0.05249867687048447,-1.0197102067613142]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_7","position":[0.35118443511173436,0.8547635887031486,0.71338606911949],"aabb_xy":[[0.3098798920479984,0.7907635891350314],[0.39248897817547035,0.9187635882712656]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_8","position":[0.6264516462462872,-2.491080387320249,0.71338606911949],"aabb_xy":[[0.5959673961192571,-2.541080387101745],[0.6569358963733174,-2.441080387538753]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_9","position":[-0.5165807545281046,0.5753361634669378,0.71338606911949],"aabb_xy":[[-0.5965807549983205,0.5670254558525895],[-0.43658075405788865,0.5836468710812862]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[0.01956054844100319,0.6861654109260877,0.71338606911949],"aabb_xy":[[-0.025432038277447222,0.6411654116516389],[0.0645531351594536,0.7311654102005364]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.03327654135087488,-1.1415271014440993,0.71338606911949],"aabb_xy":[[0.01569823916192803,-1.1591015910182045],[0.050854843539821726,-1.1239526118699945]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.2983080854909714,-0.6553312259662551,0.71338606911949],"aabb_xy":[[-0.32282170958797723,-0.6795958192682916],[-0.2737944613939655,-0.6310666326642187]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_13","position":[-0.6047091065557925,-1.4084430470876652,0.71338606911949],"aabb_xy":[[-0.6084123678849312,-1.4121450653963832],[-0.6010058452266535,-1.4047410287789472]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.31308437406418393,0.9024020839193843,0.71338606911949],"aabb_xy":[[-0.31652505030424116,0.8985406509450198],[-0.3096436978241268,0.9062635168937487]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_15","position":[0.5595873379542224,0.6044331477302944,0.71338606911949],"aabb_xy":[[0.5095873385140267,0.554465223245978],[0.609587337394418,0.6544010722146106]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.5192742451587813,-1.3067110109925006,0.71338606911949],"aabb_xy":[[-0.52485591679291,-1.319211010810276],[-0.5136925735246524,-1.294211011174725]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_17","position":[0.5389873820070352,1.4220748068196456,0.71338606911949],"aabb_xy":[[0.5271152989955341,1.3370748071259952],[0.5508594650185363,1.507074806513296]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_18","position":[0.01106304447449713,-1.4287591098627992,0.71338606911949],"aabb_xy":[[-0.026436955817677688,-1.4328005852634025],[0.04856304476667195,-1.4247176344621955]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[0.42173310781107487,-0.8866035687581073,0.71338606911949],"aabb_xy":[[0.4085021622763935,-0.8998309877801066],[0.4349640533457561,-0.8733761497361078]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_20","position":[0.476305249990836,1.0107960089324903,0.71338606911949],"aabb_xy":[[0.46473626924389944,0.9857960088155586],[0.4878742307377726,1.035796009049422]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_21","position":[-0.49767624901309426,0.4889074658567467,0.71338606911949],"aabb_xy":[[-0.5351762496776729,0.4732204078565245],[-0.4601762483485155,0.5045945238569689]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[0.5307256241623894,-1.1480271053755815,0.71338606911949],"aabb_xy":[[0.4756004185327987,-1.2080271068168684],[0.5858508297919802,-1.0880271039342941]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[-0.6828763126975872,1.641872715221869,0.71338606911949],"aabb_xy":[[-0.6868367964673217,1.6342048506363487],[-0.678915828927853,1.6495405798073899]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_24","position":[-0.1733241052081238,0.8247078062177327,0.71338606911949],"aabb_xy":[[-0.21082410531371673,0.8178856443647514],[-0.13582410510253082,0.8315299680707137]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_25","position":[-0.35698537162774563,-0.22444353332986333,0.71338606911949],"aabb_xy":[[-0.42198537018481846,-0.25419606674374595],[-0.2919853730706728,-0.1946909999159807]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_26","position":[-0.5127535290595899,-0.6408459952103618,0.71338606911949],"aabb_xy":[[-0.5306226368140454,-0.6546789031875728],[-0.49488442130513444,-0.627013087233151]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6881892960411554,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4365.png","name":"4365"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4365.png","name":"4365"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8708.png","name":"8708"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5405.png","name":"5405"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4481.png","name":"4481"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8721.png","name":"8721"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":624.5890615020925,"rotation_z_degrees":306.2335905729845,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005379909925434715,0.018002032790892162,-0.009950274949515428]},{"name":"camera_2","offset_m":[0.005211721783673115,-0.007365836368712518,0.005140099964669898]},{"name":"camera_3","offset_m":[-0.009350855765618964,-0.00592346066630732,0.0023481494936131372]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006001950644716745,0.0015680900032533068,-0.0007004047930403727],"end_effector_yaw_offset_degrees":0.042084504028755854},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004258901396982386,0.00032773102059129597,0.0016339986482518261],"end_effector_yaw_offset_degrees":0.7293527415151839},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011217059212097788,-0.0007925675458581058,-0.000703113279246999],"end_effector_yaw_offset_degrees":-0.2565042194887155},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018181337552927107,-0.0012897700509449431,-0.0013397728976984932],"end_effector_yaw_offset_degrees":-0.47210277186988603},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001384741857203416,0.0009090288242987127,-0.0001803708116409695],"end_effector_yaw_offset_degrees":0.5914802290767451},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000802790376602767,0.0011311881167654796,-0.0003887275770160818],"end_effector_yaw_offset_degrees":-0.35620045646945697}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000764979575155653,-0.0008803030407068058],"position_m":[0.14126497957515566,0.2338196969592932,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031086923696209802,0.002076679533936525],"position_m":[0.21670869236962098,-0.05162332046606347,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00011051536338067998,0.0008391443988692319],"position_m":[0.2489894846366193,-0.3825608556011308,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003920136245605322,0.002567719873726543],"position_m":[0.3496798637543947,0.11976771987372654,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"39e7bd8ec3b9a6282f78b6fb9bb862dd5466d920c60eeef30e7191555cf1e1b0","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0068.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4365/tex_ceiling_textures_8721/tex_floor_textures_4481/tex_table_textures_8708/tex_wall_textures_5405","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8656038312791648194,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8656038312791648194,"visual_seed":8656038312791648194,"scene_id":"lab_003","finished_at":"2026-09-06T15:21:26"} +{"episode_id":"ep_000067","started_at":"2026-09-06T15:21:33","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.005804451770222374,-2.399538959787893,0.71338606911949],"aabb_xy":[[-0.07419554688666363,-2.414043818712156],[0.08580445042710838,-2.38503410086363]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.5980301691801394,-1.5833134911253133,0.71338606911949],"aabb_xy":[[-0.6060665038814241,-1.5913516104297298],[-0.5899938344788545,-1.5752753718208963]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_2","position":[-0.04909282782880775,1.0183335499992756,0.71338606911949],"aabb_xy":[[-0.11309282641538021,0.9713265865997669],[0.01490717075776471,1.0653405133987843]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_3","position":[0.2715270918760021,1.2591568857452198,0.71338606911949],"aabb_xy":[[0.2075270954486802,1.2119872619231236],[0.335527088303324,1.3063265095673164]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_4","position":[-0.4696173539820469,-0.3970275999045052,0.71338606911949],"aabb_xy":[[-0.559617356316066,-0.47450995448961786],[-0.37961735164802785,-0.31954524531939255]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_5","position":[-0.2767596964249218,-0.9455952087157216,0.71338606911949],"aabb_xy":[[-0.33175517424558115,-1.0005952101496285],[-0.22176421860426238,-0.8905952072818147]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_6","position":[-0.15844971351246162,1.7369880349395674,0.71338606911949],"aabb_xy":[[-0.20625588112623022,1.6719880322325082],[-0.11064354589869294,1.8019880376466262]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_7","position":[0.6987528476895655,-0.6777920428595352,0.71338606911949],"aabb_xy":[[0.6796405403315865,-0.6969268217367772],[0.7178651550475442,-0.6586572639822932]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_8","position":[0.5783423605457232,-1.8995919346428378,0.71338606911949],"aabb_xy":[[0.5233423623439784,-1.9401139012692754],[0.633342358747468,-1.8590699680164002]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_9","position":[-0.06899233855957088,1.186641971493692,0.71338606911949],"aabb_xy":[[-0.15899233797794177,1.1532664746495023],[0.021007660858800015,1.2200174683378817]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[0.49480574927594545,0.18750166298716664,0.71338606911949],"aabb_xy":[[0.4598057479244637,0.1671419270303458],[0.5298057506274272,0.20786139894398747]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.08082403502013358,-1.3074744898087483,0.71338606911949],"aabb_xy":[[0.01682403180149572,-1.3541976017077566],[0.14482403823877144,-1.26075137790974]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_12","position":[-0.5772427117621773,-0.09121227116271102,0.71338606911949],"aabb_xy":[[-0.6572427150261905,-0.10477230347162435],[-0.4972427084981642,-0.07765223885379767]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_13","position":[0.4474244752756704,0.8721953488710046,0.71338606911949],"aabb_xy":[[0.3974244739918304,0.8222164944803823],[0.49742447655951033,0.9221742032616265]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_14","position":[-0.11351209046767086,0.534339581219077,0.71338606911949],"aabb_xy":[[-0.12436369671654646,0.5234802904914261],[-0.10266048421879526,0.5451988719467281]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_15","position":[-0.4759089325913182,0.3556026423183183,0.71338606911949],"aabb_xy":[[-0.5042386425398585,0.3511419001246013],[-0.4475792226427781,0.3600633845120354]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_16","position":[0.14592404762908817,-1.529051640037426,0.71338606911949],"aabb_xy":[[0.10907349969210056,-1.5665516408604598],[0.18277459556607578,-1.4915516392143924]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_17","position":[0.4498505235526604,0.6947474812445891,0.71338606911949],"aabb_xy":[[0.41945241245351683,0.6643405792429194],[0.480248634651804,0.7251543832462585]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[0.4513476140574648,1.3812218290370142,0.71338606911949],"aabb_xy":[[0.39134761346144864,1.3264093564917905],[0.511347614653481,1.4360343015822374]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_19","position":[-0.39345418844680363,-1.4499823220058765,0.71338606911949],"aabb_xy":[[-0.4184541883793215,-1.4568649902268],[-0.36845418851428574,-1.4430996537849534]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_20","position":[-0.5241744988011172,-2.3798301137997377,0.71338606911949],"aabb_xy":[[-0.5615057753263597,-2.41448316859459],[-0.4868432222758745,-2.3451770590048855]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_21","position":[0.26554842470688456,1.713138699779042,0.71338606911949],"aabb_xy":[[0.20154842444641372,1.668129900426114],[0.3295484249673553,1.75814749913197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6863996218988212,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3843.png","name":"3843"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7194.png","name":"7194"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1891.png","name":"1891"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8081.png","name":"8081"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9851.png","name":"9851"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":532.5462098525005,"rotation_z_degrees":136.80934032308477,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01622144580485371,-0.01953062655533841,0.0028694424609501633]},{"name":"camera_2","offset_m":[0.003976471652685193,0.003382042245470722,0.01557656084770433]},{"name":"camera_3","offset_m":[-0.003611619406855726,0.016090232387022955,-0.01978687440115696]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00034271268053596006,-0.0007474977444665255,0.00011126676556752783],"end_effector_yaw_offset_degrees":0.7868004375397175},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014794519901660365,0.001569307570287155,0.001982776202024571],"end_effector_yaw_offset_degrees":-0.0475939161529757},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004202726689958472,0.00023721553775013114,0.00010657547390857409],"end_effector_yaw_offset_degrees":-0.5235948837056008},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0011290811569779177,0.0009550892046879173,0.001557067216194064],"end_effector_yaw_offset_degrees":0.17184620963825825},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005581750316828778,-0.0015015336462315346,-0.0006392091375570894],"end_effector_yaw_offset_degrees":0.2782095300155416},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010474970059042264,0.001901245034009381,-0.0011989411048682003],"end_effector_yaw_offset_degrees":0.5922139877247348}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015881521493285242,-0.00017563258085003582],"position_m":[0.14208815214932854,0.23452436741914995,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009101008875379039,-0.004567526393564844],"position_m":[0.2145101008875379,-0.05826752639356484,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004542134024843455,0.004920969894517266],"position_m":[0.24955421340248432,-0.3784790301054827,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003197675161324313,0.002025015023056816],"position_m":[0.3567976751613243,0.11922501502305681,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1ef132ae92d19fc523f0228a01387dba6f200441fbffd67fdc577ef4d793123","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0069.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3843/tex_ceiling_textures_9851/tex_floor_textures_8081/tex_table_textures_7194/tex_wall_textures_1891","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6411947490010805690,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6411947490010805690,"visual_seed":6411947490010805690,"scene_id":"lab_003","finished_at":"2026-09-06T15:27:34"} +{"episode_id":"ep_000068","started_at":"2026-09-06T15:27:41","dimensions":{"distractor":{"count":23,"items":[{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_0","position":[0.41207716633517766,-0.5561828146683037,0.71338606911949],"aabb_xy":[[0.40794131000247746,-0.5936828141126607],[0.41621302266787785,-0.5186828152239467]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_1","position":[0.014492866298823737,1.268129354657042,0.71338606911949],"aabb_xy":[[-0.03550713314137188,1.2181614301727255],[0.06449286573901936,1.318097279141358]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[-0.018987065553337512,-2.008764351489504,0.71338606911949],"aabb_xy":[[-0.05583761349032512,-2.0462643523125377],[0.017863482383650098,-1.9712643506664702]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_3","position":[-0.5017829420932687,0.5587346236691078,0.71338606911949],"aabb_xy":[[-0.5657829440056111,0.5028234744110974],[-0.43778294018092645,0.6146457729271183]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_4","position":[0.19840122656587478,1.2989735699904363,0.71338606911949],"aabb_xy":[[0.18579852742879835,1.286378173765571],[0.21100392570295126,1.311568966215302]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_5","position":[-0.0021211491196868604,-2.1524574470746023,0.71338606911949],"aabb_xy":[[-0.05211598204762846,-2.2024574459698454],[0.04787368380825474,-2.1024574481793583]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_6","position":[-0.5734751538593212,-1.7277978581592937,0.71338606911949],"aabb_xy":[[-0.5853472368708224,-1.812797857852944],[-0.5616030708478201,-1.6427978584656433]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_7","position":[0.09481171520317566,-1.7181902481365743,0.71338606911949],"aabb_xy":[[0.014811711945332706,-1.798186755928558],[0.17481171846101862,-1.63819374034459]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.5837462895557679,0.025256659232780976,0.71338606911949],"aabb_xy":[[0.5187462869179745,-0.026222939466665984],[0.6487462921935615,0.07673625793222794]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_9","position":[0.3260716422269907,-1.8187530933158902,0.71338606911949],"aabb_xy":[[0.24607164195338369,-1.891702641141607],[0.40607164250059763,-1.7458035454901735]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_10","position":[0.49099072879575223,0.6667167683613009,0.71338606911949],"aabb_xy":[[0.4800849527081895,0.5867167719624717],[0.5018965048833149,0.74671676476013]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_11","position":[-0.0003990524959692765,-2.338417460947013,0.71338606911949],"aabb_xy":[[-0.006365591436705065,-2.3443786056063773],[0.005567486444766512,-2.332456316287649]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_12","position":[-0.6181120092026234,-0.30779782501468533,0.71338606911949],"aabb_xy":[[-0.6305793673123591,-0.32026314964800884],[-0.6056446510928878,-0.29533250038136183]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[-0.21620325895222964,0.4230593886632934,0.71338606911949],"aabb_xy":[[-0.22104685371345964,0.4182077361843093],[-0.2113596641909997,0.4279110411422775]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_14","position":[-0.6669730654758645,0.7838866235679482,0.71338606911949],"aabb_xy":[[-0.6782181210464823,0.7726448258438529],[-0.6557280099052466,0.7951284212920434]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.09475450125101759,-0.7742266455385811,0.71338606911949],"aabb_xy":[[0.06043822407639965,-0.8242266455117587],[0.12907077842563552,-0.7242266455654033]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_16","position":[-0.07628448430272128,1.4116658819932137,0.71338606911949],"aabb_xy":[[-0.11191364020268102,1.376033215236361],[-0.04065532840276154,1.447298548750067]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_17","position":[-0.06368986521203712,-0.8797096388787125,0.71338606911949],"aabb_xy":[[-0.07181755340535036,-0.8886232472894202],[-0.055562177018723916,-0.8707960304680049]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_18","position":[-0.49031503071107024,-0.07582946193125562,0.71338606911949],"aabb_xy":[[-0.5128141664372972,-0.09832946270951858],[-0.4678158949848433,-0.05332946115299263]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_19","position":[0.6649200920360887,1.529178003048321,0.71338606911949],"aabb_xy":[[0.6474893769570821,1.5119058883844703],[0.6823508071150951,1.546450117712172]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.5204128588387296,-1.7216033557064465,0.71338606911949],"aabb_xy":[[0.5122992041653525,-1.7297091721604752],[0.5285265135121067,-1.713497539252417]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.45587011196752436,1.3742899159879176,0.71338606911949],"aabb_xy":[[-0.5198701112616926,1.3103037756190634],[-0.39187011267335614,1.4382760563567718]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[-0.1740214688894004,1.5884089746176202,0.71338606911949],"aabb_xy":[[-0.17892076119596387,1.560732055315051],[-0.16912217658283688,1.6160858939201885]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6926069430230596,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6397.png","name":"6397"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6397.png","name":"6397"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5347.png","name":"5347"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9332.png","name":"9332"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1326.png","name":"1326"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":811.6581346898313,"rotation_z_degrees":212.6350961640833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0143575175517795,-0.016261265979474252,-0.013673950326143021]},{"name":"camera_2","offset_m":[0.004633386870244279,-0.006849131128163179,-0.017990912991034374]},{"name":"camera_3","offset_m":[-0.002219384437454258,-0.015937845610751004,-0.014025137257100112]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016568141280265513,0.0007936836755030111,0.000371515903156097],"end_effector_yaw_offset_degrees":0.29220551745313017},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0001535139419501421,-0.0010137467336034712,-0.0005827008548569435],"end_effector_yaw_offset_degrees":0.09960853792727331},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006544295242367731,0.0008600063563491598,0.001091345756303912],"end_effector_yaw_offset_degrees":0.9220921122631995},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019868039219050563,-0.0014370254106731459,0.0016294658891832198],"end_effector_yaw_offset_degrees":-0.8820417658019313},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-3.603102113244839e-05,-0.0002726412535540392,-2.7624882318512053e-05],"end_effector_yaw_offset_degrees":-0.10018667643884815},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001867003557010121,0.0009561126719581491,0.00040321151208169963],"end_effector_yaw_offset_degrees":0.565943945213466}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007912274879685408,-0.0020833452499443993],"position_m":[0.13970877251203148,0.23261665475005558,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020579241313971497,-0.0028007638655457366],"position_m":[0.21154207586860285,-0.056500763865545735,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004761280933477091,0.0001832554403767674],"position_m":[0.2538612809334771,-0.38321674455962323,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004991110588756638,-0.0010039531171288241],"position_m":[0.35859111058875665,0.11619604688287118,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c312128eff2e84b89437b9269d2805cbb11808c851b8a11e0aa99eb3d03bd01c","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_6397/tex_ceiling_textures_1326/tex_floor_textures_9332/tex_table_textures_588/tex_wall_textures_5347","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5016852880897607317,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5016852880897607317,"visual_seed":5016852880897607317,"scene_id":"lab_003","finished_at":"2026-09-06T15:33:46"} +{"episode_id":"ep_000069","started_at":"2026-09-06T15:33:52","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.5409884219819725,0.4832822600816802,0.71338606911949],"aabb_xy":[[-0.5568729152472977,0.46892931978285607],[-0.5251039287166474,0.4976352003805042]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_1","position":[0.08434743356081109,1.0834190233205319,0.71338606911949],"aabb_xy":[[0.062438751421460034,1.061518356500441],[0.10625611570016212,1.1053196901406224]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_2","position":[0.5352434944926074,-0.16403991136359553,0.71338606911949],"aabb_xy":[[0.4712434925802652,-0.21995106062160596],[0.5992434964049499,-0.10812876210558509]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.1929735111843277,-0.3517810369516554,0.71338606911949],"aabb_xy":[[-0.25697351286232506,-0.40029842843096963],[-0.12897350950633035,-0.3032636454723412]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_4","position":[-0.3374969778905336,-1.1726320206980865,0.71338606911949],"aabb_xy":[[-0.34712861411096324,-1.1822693334777954],[-0.327865341670104,-1.1629947079183776]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_5","position":[-0.4602806897767524,0.5396827994111124,0.71338606911949],"aabb_xy":[[-0.4827943816002095,0.4696827988101048],[-0.4377669979532951,0.6096828000121198]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_6","position":[0.49042467581083504,-1.8932655034180323,0.71338606911949],"aabb_xy":[[0.4800131171303514,-1.8986112367539305],[0.5008362344913189,-1.8879197700821337]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.2955106142377182,0.7405337294084342,0.71338606911949],"aabb_xy":[[0.2460301930237594,0.6765337314955824],[0.344991035451677,0.804533727321286]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_8","position":[0.3170954961961514,-1.871513608349749,0.71338606911949],"aabb_xy":[[0.279595497772751,-1.8846778223175795],[0.3545954946195517,-1.858349394381918]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_9","position":[-0.6840013331254508,1.597585578724353,0.71338606911949],"aabb_xy":[[-0.690095961013569,1.589016184172684],[-0.6779067052373323,1.6061549732760214]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_10","position":[-0.33009928128208926,-0.9045684449758247,0.71338606911949],"aabb_xy":[[-0.40009928288436875,-0.9180012381774824],[-0.2600992796798098,-0.8911356517741672]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.07249425059426207,1.0743864753633598,0.71338606911949],"aabb_xy":[[-0.0937722587377343,1.0093864730372868],[-0.0512162424507898,1.139386477689433]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_12","position":[0.4475383260558683,1.05393824730377,0.71338606911949],"aabb_xy":[[0.4175707691460426,1.0239382470058844],[0.4775058829656939,1.083938247601656]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[-0.12655350079862193,1.6535659133062377,0.71338606911949],"aabb_xy":[[-0.14210927020888722,1.638015480061831],[-0.1109977313883567,1.6691163465506453]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.42814143321358433,-1.1395727036129677,0.71338606911949],"aabb_xy":[[-0.4619169924042773,-1.1536111988261326],[-0.39436587402289136,-1.1255342083998028]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.15199476380275678,-1.5577211847566501,0.71338606911949],"aabb_xy":[[0.10199476244186957,-1.6076990893320657],[0.201994765163644,-1.5077432801812345]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.2238680661595409,-1.852548734845649,0.71338606911949],"aabb_xy":[[0.21229908541260434,-1.8775487349625808],[0.2354370469064775,-1.8275487347287174]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.4740064306709182,-2.1598731527159,0.71338606911949],"aabb_xy":[[0.46140373153384173,-2.172468548940766],[0.48660912980799464,-2.147277756491035]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.6401789606070352,1.435062756622131,0.71338606911949],"aabb_xy":[[0.5902015437417816,1.385062755132882],[0.6901563774722888,1.485062758111379]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_19","position":[-0.5125550244494842,-1.8141771171402086,0.71338606911949],"aabb_xy":[[-0.5199674799908727,-1.8200283275618363],[-0.5051425689080957,-1.8083259067185804]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_20","position":[-0.29004180225845033,-0.18389117813836808,0.71338606911949],"aabb_xy":[[-0.3019745366202784,-0.19627333094622743],[-0.27810906789662226,-0.17150902533050869]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840281951449813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3631.png","name":"3631"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2963.png","name":"2963"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6837.png","name":"6837"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9869.png","name":"9869"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":697.0010025471584,"rotation_z_degrees":88.72015586667958,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009745792340274896,-0.0037895804814917257,-0.015321094821079982]},{"name":"camera_2","offset_m":[0.005793333347161252,0.01626401740804548,-0.011807417314739457]},{"name":"camera_3","offset_m":[-0.009247373395903083,-0.010739614058242397,0.016952151950785612]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005815054845192868,0.001791112284369031,0.000579472623453581],"end_effector_yaw_offset_degrees":-0.1962770758287189},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0011690452289624138,-9.8332846535076e-05,-0.0016692445619001703],"end_effector_yaw_offset_degrees":-0.12088988947706514},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013344215723199997,-0.0009916263667800634,0.0005939587333640781],"end_effector_yaw_offset_degrees":-0.7518528692824806},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005575451014729945,-3.626962889472082e-05,0.0011862179690195012],"end_effector_yaw_offset_degrees":0.0402327136801619},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0001248594508462455,-0.0010122690282537707,-0.0013035609443174207],"end_effector_yaw_offset_degrees":0.19943578155315667},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012916137043507644,-0.0016272664150290526,0.0009441061310154282],"end_effector_yaw_offset_degrees":-0.1204598433244366}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025181964565353836,-0.003225396474298394],"position_m":[0.1430181964565354,0.2314746035257016,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012152673246437493,0.004460557264470386],"position_m":[0.21481526732464376,-0.04923944273552961,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028869420388852795,0.004174805587076874],"position_m":[0.2462130579611147,-0.37922519441292313,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026754390199071375,0.0018906197923910769],"position_m":[0.3509245609800929,0.11909061979239108,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68fe570a56714d162caae5f2c343b098ad549939cfe7499053ad5bf82e265887","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0071.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_3631/tex_ceiling_textures_3082/tex_floor_textures_9869/tex_table_textures_2963/tex_wall_textures_6837","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2674470931189077672,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2674470931189077672,"visual_seed":2674470931189077672,"scene_id":"lab_003","finished_at":"2026-09-06T15:39:50"} +{"episode_id":"ep_000070","started_at":"2026-09-06T15:39:55","dimensions":{"distractor":{"count":21,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.016839634838683337,0.8016393714914072,0.71338606911949],"aabb_xy":[[-0.03933963465258572,0.7971647551209263],[0.0056603649752190455,0.8061139878618878]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_1","position":[-0.08932654774817894,1.2576044263176818,0.71338606911949],"aabb_xy":[[-0.15432654874867946,1.206818061163007],[-0.024326546747678424,1.308390791472357]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[0.2530435917676874,1.5599814608288862,0.71338606911949],"aabb_xy":[[0.18904359035969673,1.5081925093049613],[0.31704359317567804,1.6117704123528107]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_3","position":[-0.48264074162721293,1.1436791607827739,0.71338606911949],"aabb_xy":[[-0.5051407416373612,1.1295829411431708],[-0.46014074161706464,1.1577753804223774]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_4","position":[0.5397267858965276,0.08780744473507651,0.71338606911949],"aabb_xy":[[0.44972678730205773,0.07155685842165549],[0.6297267844909976,0.10405803104849753]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_5","position":[0.27608092458527633,-1.8712080400019415,0.71338606911949],"aabb_xy":[[0.2683777339111993,-1.8789174107006796],[0.2837841152593534,-1.8634986693032034]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_6","position":[-0.5977516730272734,0.18639342688490057,0.71338606911949],"aabb_xy":[[-0.6327516721572289,0.1806482058092365],[-0.5627516738973176,0.1921386479605647]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_7","position":[0.3455136481823158,-1.2335032717772583,0.71338606911949],"aabb_xy":[[0.34018113352770285,-1.2388276000224938],[0.3508461628369288,-1.2281789435320227]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_8","position":[-0.23966188435854846,0.5017762637110939,0.71338606911949],"aabb_xy":[[-0.24844311150578471,0.4929965164225638],[-0.23088065721131226,0.5105560109996241]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_9","position":[-0.37405549194267096,-2.2823241716600426,0.71338606911949],"aabb_xy":[[-0.39173112253126924,-2.300004387939445],[-0.35637986135407257,-2.2646439553806395]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_10","position":[-0.2259883324102145,-1.4813231320242808,0.71338606911949],"aabb_xy":[[-0.2485020242336717,-1.5513231326252883],[-0.20347464058675732,-1.4113231314232733]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_11","position":[-0.503764857304948,-1.5374849252130234,0.71338606911949],"aabb_xy":[[-0.5131118648872433,-1.5517885474306674],[-0.4944178497226528,-1.5231813029953793]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[-0.3375523173406705,-1.6638110376865436,0.71338606911949],"aabb_xy":[[-0.40155231592724294,-1.710818001086052],[-0.273552318754098,-1.6168040742870347]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[0.5504352119706479,-1.71096804391588,0.71338606911949],"aabb_xy":[[0.5043501207159165,-1.7749680411684352],[0.5965203032253794,-1.646968046663325]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_14","position":[-0.32025731267271196,1.431239781160023,0.71338606911949],"aabb_xy":[[-0.3263519405608303,1.4226703866083543],[-0.31416268478459364,1.4398091757116918]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_15","position":[0.22556731067359304,-1.091142829888954,0.71338606911949],"aabb_xy":[[0.14557348709503484,-1.1711428324817956],[0.30556113425215126,-1.0111428272961125]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_16","position":[-0.5663233429995234,-1.2787609328818206,0.71338606911949],"aabb_xy":[[-0.6303233421692933,-1.325527620000783],[-0.5023233438297534,-1.231994245762858]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_17","position":[0.2760459405714153,1.268746772254556,0.71338606911949],"aabb_xy":[[0.21204594417584222,1.2047834838358225],[0.34004593696698837,1.3327100606732896]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_18","position":[-0.6033105296078498,-1.686577523747796,0.71338606911949],"aabb_xy":[[-0.6129421658282794,-1.6962148365275047],[-0.5936788933874202,-1.6769402109680869]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_19","position":[-0.0776000362721192,-1.3102820371205561,0.71338606911949],"aabb_xy":[[-0.09749107615245946,-1.3229378484052532],[-0.057708996391778955,-1.2976262258358595]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_20","position":[0.044026278708443,-0.7265548225748246,0.71338606911949],"aabb_xy":[[0.03460880413858025,-0.7359709997125436],[0.05344375327830575,-0.7171386454371056]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6841958573317181,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8235.png","name":"8235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7554.png","name":"7554"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9460.png","name":"9460"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9660.png","name":"9660"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":734.9435824614144,"rotation_z_degrees":170.3615891453803,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005853840601656031,-0.003949363177430304,-0.014990796758206026]},{"name":"camera_2","offset_m":[-0.017731945561485704,0.011026702047809561,0.013775218760247458]},{"name":"camera_3","offset_m":[-0.0027218089462186373,0.016496715736560943,0.005492770795833955]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014916829865850771,-0.0018314967876185122,0.0009953786448902101],"end_effector_yaw_offset_degrees":0.41916449247820653},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00024178573315780075,0.000586561700758546,-0.0017770357441005001],"end_effector_yaw_offset_degrees":0.345106720346706},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[2.262050996639474e-05,0.000509679257393579,-0.0009357629471179036],"end_effector_yaw_offset_degrees":0.457991419800597},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007429828896521032,-0.0013610661504068458,9.893147086917266e-05],"end_effector_yaw_offset_degrees":0.5227578618733408},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011591364872869528,0.00022134585313967996,-0.000708652103700452],"end_effector_yaw_offset_degrees":-0.7206707655880105},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0006569831843720917,0.00040834867928318287,0.0003508951136173516],"end_effector_yaw_offset_degrees":-0.38665633336163907}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008851614406523755,0.0035932559778965112],"position_m":[0.13961483855934764,0.2382932559778965,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027170011205193143,-0.003839613931382996],"position_m":[0.21631700112051933,-0.057539613931382995,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004626710053642397,0.0012758093734992412],"position_m":[0.24447328994635759,-0.38212419062650077,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022089109400147185,0.004933996405525105],"position_m":[0.35580891094001477,0.12213399640552511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dc844fbb729c18cb1af50f69e2f670f668ac7580fe8a5f1773a2efb349fd1354","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0072.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3883/tex_ceiling_textures_9660/tex_floor_textures_9460/tex_table_textures_8235/tex_wall_textures_7554","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6248011791125610470,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6248011791125610470,"visual_seed":6248011791125610470,"scene_id":"lab_003","finished_at":"2026-09-06T15:45:48"} +{"episode_id":"ep_000071","started_at":"2026-09-06T15:45:53","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_0","position":[0.5661213098437139,1.4124072026076906,0.71338606911949],"aabb_xy":[[0.5286213097381208,1.4055850407547095],[0.6036213099493067,1.4192293644606717]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_1","position":[-0.07604089543428838,-1.9714997477515275,0.71338606911949],"aabb_xy":[[-0.11283552855919464,-2.0084056228481098],[-0.03924626230938209,-1.9345938726549452]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_2","position":[-0.4742571347500013,-1.9581725362289344,0.71338606911949],"aabb_xy":[[-0.5542571317642493,-1.9783070879023457],[-0.3942571377357533,-1.9380379845555231]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.26238744936708236,0.885881513432055,0.71338606911949],"aabb_xy":[[0.22488745079146152,0.8731452177684971],[0.2998874479427031,0.898617809095613]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_4","position":[0.33950702317404713,1.7010645945561458,0.71338606911949],"aabb_xy":[[0.3020070223820516,1.6946967535979554],[0.3770070239660425,1.7074324355143358]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_5","position":[0.20869036138526675,-2.258402395081263,0.71338606911949],"aabb_xy":[[0.14469036498969368,-2.3223656834999966],[0.27269035778083983,-2.1944391066625295]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[-0.5379245359221552,1.5983021919769898,0.71338606911949],"aabb_xy":[[-0.5754245364195133,1.594333508428871],[-0.5004245354247968,1.602270875525108]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.5380741940292958,-0.03523777005260964,0.71338606911949],"aabb_xy":[[-0.5420346777990303,-0.04290563463813024],[-0.5341137102595616,-0.02756990546708904]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_8","position":[-0.21132887283792368,-2.4789368016904145,0.71338606911949],"aabb_xy":[[-0.25409557971734387,-2.542936805112217],[-0.16856216595850348,-2.414936798268612]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.6100848756459918,-0.6077655119497545,0.71338606911949],"aabb_xy":[[0.555091664308855,-0.6627655122885481],[0.6650780869831285,-0.5527655116109609]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_10","position":[0.09748642199454982,-1.4360696466261782,0.71338606911949],"aabb_xy":[[0.09144940899388508,-1.4420963476951263],[0.10352343499521455,-1.43004294555723]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.16621420135021647,1.6415086811036752,0.71338606911949],"aabb_xy":[[-0.2302142006443847,1.577522540734821],[-0.10221420205604825,1.7054948214725294]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_12","position":[-0.6135287749817063,-1.7709649974549793,0.71338606911949],"aabb_xy":[[-0.6635117251691856,-1.8209649970975395],[-0.5635458247942269,-1.7209649978124186]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_13","position":[0.47023251089892093,0.8895981170987883,0.71338606911949],"aabb_xy":[[0.40523251086461815,0.8428974404184612],[0.5352325109332237,0.9362987937791157]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[0.3294012559739494,-0.8006554456807333,0.71338606911949],"aabb_xy":[[0.29940959324007904,-0.8306554450175339],[0.3593929187078197,-0.7706554463439328]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.23603858797066485,-0.42958244420498115,0.71338606911949],"aabb_xy":[[-0.2423506875070033,-0.43534938345819996],[-0.22972648843432644,-0.42381550495176235]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_16","position":[0.6514960220126427,-0.42841354970034473,0.71338606911949],"aabb_xy":[[0.6340653069336359,-0.4456856643641955],[0.668926737091649,-0.41114143503649386]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_17","position":[0.08326154030879795,-1.611471628428768,0.71338606911949],"aabb_xy":[[0.07521818038284278,-1.6964716295241344],[0.09130490023475313,-1.5264716273334016]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_18","position":[0.5962941444391809,1.7656703948813415,0.71338606911949],"aabb_xy":[[0.5502090531844495,1.7016703976287864],[0.6423792356939124,1.8296703921338966]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_19","position":[-0.5686900695013324,-2.4913592971302463,0.71338606911949],"aabb_xy":[[-0.6158194485031679,-2.555359298174648],[-0.5215606904994966,-2.427359296085844]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_20","position":[0.45672205463041227,1.1329453489211518,0.71338606911949],"aabb_xy":[[0.3927220522876107,1.0880044976770193],[0.5207220569732138,1.1778862001652843]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_21","position":[0.5094177977062355,-0.9463416349098619,0.71338606911949],"aabb_xy":[[0.49274066171314,-0.9630415588837921],[0.526094933699331,-0.9296417109359315]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_22","position":[-0.518705105969991,0.4645670406688014,0.71338606911949],"aabb_xy":[[-0.5827051080197229,0.4244725575794934],[-0.45470510392025887,0.5046615237581094]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[-0.6050319727114697,0.1510596366252659,0.71338606911949],"aabb_xy":[[-0.6425319728833415,0.11835890124235868],[-0.5675319725395976,0.18376037200817305]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_24","position":[0.023302374087455724,-1.0646048085042463,0.71338606911949],"aabb_xy":[[-0.036697626508560455,-1.1194172810494698],[0.0833023746834719,-1.0097923359590228]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_25","position":[-0.11486303059061176,-0.4822508536387451,0.71338606911949],"aabb_xy":[[-0.11877690378603428,-0.49099986904530185],[-0.11094915739518924,-0.47350183823218833]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_26","position":[-0.219709610624799,-1.2519012686359643,0.71338606911949],"aabb_xy":[[-0.22770310042008107,-1.2598994005764401],[-0.21171612082951702,-1.243903136695489]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_27","position":[0.1884675656308763,1.2174135698934916,0.71338606911949],"aabb_xy":[[0.12687680640688354,1.1534135717844447],[0.2500583248548692,1.2814135680025385]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857644985358815,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3275.png","name":"3275"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8874.png","name":"8874"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/118.png","name":"118"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/840.png","name":"840"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":822.1177627694161,"rotation_z_degrees":76.152919601398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011692170569448355,-0.00014304717297307368,0.007613527364170737]},{"name":"camera_2","offset_m":[-0.013628157440515785,-0.005353185948222077,-0.0176671347585269]},{"name":"camera_3","offset_m":[-0.016800591855284507,-0.001432001842444807,-0.0055965395555606715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0002195908535076313,0.0017967579658166631,0.0004089934830945074],"end_effector_yaw_offset_degrees":-0.7017131872724862},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0004430017022465315,0.001968720733825575,-0.0005608013628595047],"end_effector_yaw_offset_degrees":-0.6331643078673923},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006649134747757674,-0.0001802701713009816,-0.0017244831325845809],"end_effector_yaw_offset_degrees":0.3207691044304648},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011045309531989714,-0.0009698446820057996,0.0016169676571675838],"end_effector_yaw_offset_degrees":-0.32322788923876256},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009915048729011032,0.00021561027936923367,0.0010874187776515232],"end_effector_yaw_offset_degrees":0.5728144914704782},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008542122450115111,0.0018132053401293002,0.0018185059632595322],"end_effector_yaw_offset_degrees":-0.4044539934211733}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002396877055980391,0.0048038139377808335],"position_m":[0.1428968770559804,0.23950381393778084,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0030867737479772705,-0.0020452042392827864],"position_m":[0.2166867737479773,-0.05574520423928278,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012464381089470756,0.0035057804549132104],"position_m":[0.24785356189105293,-0.3798942195450868,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0015763309359813306,-0.0009830136229158504],"position_m":[0.35517633093598133,0.11621698637708415,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8298b6fc090f61e660147e3034d46759449c18c6354c3b35d8009ec7442069ed","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0073.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_9013/tex_ceiling_textures_840/tex_floor_textures_118/tex_table_textures_3275/tex_wall_textures_8874","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5719298244033991325,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5719298244033991325,"visual_seed":5719298244033991325,"scene_id":"lab_003","finished_at":"2026-09-06T15:51:52"} +{"episode_id":"ep_000072","started_at":"2026-09-06T15:51:57","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_0","position":[0.09936863981015409,-1.7737993062914552,0.71338606911949],"aabb_xy":[[0.03536864250780769,-1.8181657332593117],[0.1633686371125005,-1.7294328793235982]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[-0.18804676996306213,0.4388727161216863,0.71338606911949],"aabb_xy":[[-0.20591587771751763,0.4250398081444754],[-0.17017766220860664,0.45270562409889725]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_2","position":[0.5992314319799374,-1.6379569619343328,0.71338606911949],"aabb_xy":[[0.529231430377658,-1.6513897551359904],[0.6692314335822169,-1.6245241687326752]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_3","position":[-0.5893209224121163,-2.0008882508368746,0.71338606911949],"aabb_xy":[[-0.6533209247549178,-2.0458291020810067],[-0.5253209200693146,-1.9559473995927419]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[0.41009140818279777,-1.7258272670631238,0.71338606911949],"aabb_xy":[[0.4024671400926196,-1.733460490599668],[0.41771567627297607,-1.7181940435265806]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_5","position":[0.20868133989280735,-2.2181826981394743,0.71338606911949],"aabb_xy":[[0.1286813419120223,-2.2257842391013263],[0.2886813378735924,-2.2105811571776224]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[0.377835443752488,1.1636896677368727,0.71338606911949],"aabb_xy":[[0.2878354440293138,1.1406163152016924],[0.4678354434756622,1.186763020272052]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[-0.1557864901453775,-0.7903373998270535,0.71338606911949],"aabb_xy":[[-0.1932864916610092,-0.8015641728431986],[-0.11828648862974578,-0.7791106268109085]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[-0.23239656036525885,0.784904223145138,0.71338606911949],"aabb_xy":[[-0.28739655998700475,0.7299205303576652],[-0.17739656074351304,0.8398879159326107]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_9","position":[0.5874153910780082,1.504400508509574,0.71338606911949],"aabb_xy":[[0.5787014220280736,1.4819005078503855],[0.5961293601279426,1.526900509168762]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_10","position":[-0.4662918313386246,0.10774908142833128,0.71338606911949],"aabb_xy":[[-0.49129183089036316,0.09760659756319655],[-0.4412918317868862,0.11789156529346599]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_11","position":[0.3046826644949242,-2.079901873105489,0.71338606911949],"aabb_xy":[[0.285798280726414,-2.0987877978858416],[0.3235670482634344,-2.061015948325136]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[-0.5803916740587732,-0.07922203691482554,0.71338606911949],"aabb_xy":[[-0.6443916754667638,-0.13101098843875025],[-0.5163916726507825,-0.027433085390900846]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.05822176107888144,0.9570291622365148,0.71338606911949],"aabb_xy":[[-0.02177824108388105,0.8770739786103711],[0.13822176324164392,1.0369843458626584]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[0.6116748697900909,-2.1813214988346425,0.71338606911949],"aabb_xy":[[0.58950234281344,-2.2034971659907656],[0.6338473967667417,-2.1591458316785195]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_15","position":[-0.4302342029631899,-0.29898543501404307,0.71338606911949],"aabb_xy":[[-0.4800509824280247,-0.3489854334983464],[-0.38041742349835517,-0.24898543652973965]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_16","position":[0.6486829020422427,-2.4664273476622536,0.71338606911949],"aabb_xy":[[0.5836829038863236,-2.4927235922121658],[0.7136829001981617,-2.4401311031123414]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_17","position":[-0.37260107725577124,1.2321272469248603,0.71338606911949],"aabb_xy":[[-0.3765615610255057,1.2244593823393397],[-0.3686405934860369,1.239795111510381]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.07948247142625686,-2.0397739394878767,0.71338606911949],"aabb_xy":[[0.015486774031160264,-2.103773937788585],[0.14347816882135345,-1.9757739411871675]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[-0.3722033631327294,-0.9155765785442858,0.71338606911949],"aabb_xy":[[-0.3776613087697494,-0.9955765818519449],[-0.36674541749570927,-0.8355765752366267]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_20","position":[-0.16424443049228865,1.5305988963848862,0.71338606911949],"aabb_xy":[[-0.1811551629286304,1.5171266907922714],[-0.14733369805594684,1.5440711019775006]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.38551091131819915,-2.41865945015162,0.71338606911949],"aabb_xy":[[0.36545249970495886,-2.4387245370607773],[0.40556932293143944,-2.3985943632424624]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.26250201396204986,-1.4986348726703052,0.71338606911949],"aabb_xy":[[0.2375020146900876,-1.5149802362664673],[0.28750201323401214,-1.4822895090741426]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_23","position":[-0.45531062596684446,-2.1886043120781484,0.71338606911949],"aabb_xy":[[-0.45901388729598336,-2.192306330386866],[-0.45160736463770557,-2.1849022937694307]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_24","position":[0.6321889420049012,0.2910876381588796,0.71338606911949],"aabb_xy":[[0.547188943587478,0.20621334269659464],[0.7171889404223245,0.3759619336211646]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_25","position":[0.058864291571107175,1.6169610131771806,0.71338606911949],"aabb_xy":[[0.054433662216267005,1.6115126414424983],[0.06329492092594735,1.6224093849118633]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_26","position":[-0.40492037963883765,-0.5152961871313475,0.71338606911949],"aabb_xy":[[-0.46892038168856964,-0.5553906702206555],[-0.34092037758910565,-0.47520170404203954]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_27","position":[0.638555285701687,-1.5622394068138812,0.71338606911949],"aabb_xy":[[0.623911880147654,-1.5768981264706652],[0.6531986912557199,-1.5475806871570967]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6890034926147057,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/490.png","name":"490"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/490.png","name":"490"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4377.png","name":"4377"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9478.png","name":"9478"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/22.png","name":"22"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8276.png","name":"8276"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":563.5721324630604,"rotation_z_degrees":76.7555443935215,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005329855233749011,0.016671784016168815,0.006261505155001523]},{"name":"camera_2","offset_m":[-0.01834818609746001,0.009659912361175405,0.0108232895082742]},{"name":"camera_3","offset_m":[0.0010342617272695968,-0.01557563279410136,0.014433007978126005]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00060381787506007,-0.00031730806279613643,-0.0013092111205705898],"end_effector_yaw_offset_degrees":-0.23940762768875046},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007219764936618285,0.0003351202410516703,-0.0009185706651420257],"end_effector_yaw_offset_degrees":0.2488067350480947},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018957550998732918,0.0009909701746210224,0.0003045174255167965],"end_effector_yaw_offset_degrees":0.2494045342656468},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001157206709773584,-0.0008437285331613135,0.00024920342934093816],"end_effector_yaw_offset_degrees":0.3066473810954191},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001994159767287623,0.0016569736951298243,-0.00164218764321016],"end_effector_yaw_offset_degrees":0.7777225567489356},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.000150726062953475,-0.0003242408710934161,0.00046651272604941556],"end_effector_yaw_offset_degrees":-0.7597833178575504}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003002972949248564,0.002986215142882471],"position_m":[0.14350297294924858,0.23768621514288246,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0035738395555013217,0.0007848916131828147],"position_m":[0.21002616044449868,-0.052915108386817185,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002719355458075342,0.003625762174672787],"position_m":[0.2518193554580753,-0.3797742378253272,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004818774820857581,0.0019762218296948894],"position_m":[0.34878122517914245,0.1191762218296949,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3d3006fe21d4d9cb79d883526faf7913a5a2f2f5b580c7da14a58e0734f02058","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0074.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_490/tex_ceiling_textures_8276/tex_floor_textures_22/tex_table_textures_4377/tex_wall_textures_9478","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5525075015651669481,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5525075015651669481,"visual_seed":5525075015651669481,"scene_id":"lab_003","finished_at":"2026-09-06T15:57:57"} +{"episode_id":"ep_000073","started_at":"2026-09-06T15:58:03","dimensions":{"distractor":{"count":21,"items":[{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_0","position":[0.6199597753630863,-1.7367768250014861,0.71338606911949],"aabb_xy":[[0.5777753612022556,-1.8007768252786975],[0.6621441895239171,-1.6727768247242751]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_1","position":[-0.5753214632877716,0.06098712693948505,0.71338606911949],"aabb_xy":[[-0.600542300147611,0.035763376086598284],[-0.5501006264279317,0.08621087779237177]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_2","position":[-0.6138996498528994,-1.5702035455699443,0.71338606911949],"aabb_xy":[[-0.6513996510376919,-1.5746217682660046],[-0.5763996486681063,-1.5657853228738836]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_3","position":[0.44498212303719065,0.32103836920421047,0.71338606911949],"aabb_xy":[[0.40998212472649515,0.3133233542806648],[0.47998212134788604,0.3287533841277561]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[0.4820588231048859,1.5981364801115974,0.71338606911949],"aabb_xy":[[0.41805881981517784,1.5548015611076798],[0.546058826394594,1.641471399115515]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_5","position":[-0.601087782202755,-1.1115194077795025,0.71338606911949],"aabb_xy":[[-0.6118607561241228,-1.1465194059985415],[-0.5903148082813873,-1.0765194095604635]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.43562639811226034,-1.860039633942407,0.71338606911949],"aabb_xy":[[-0.4766443414986312,-1.9100396345733641],[-0.39460845472588946,-1.8100396333114495]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[-0.4942722560591179,1.5812380343277463,0.71338606911949],"aabb_xy":[[-0.5056339907124041,1.5698695679214583],[-0.4829105214058317,1.5926065007340344]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_8","position":[-0.050714770362295436,-1.7312014744407997,0.71338606911949],"aabb_xy":[[-0.10069357887261132,-1.7812014744465183],[-0.0007359618519795497,-1.6812014744350807]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_9","position":[-0.25656764142026783,-0.23710279813544144,0.71338606911949],"aabb_xy":[[-0.3205676446389057,-0.2838259100344498],[-0.19256763820162998,-0.19037968623643312]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_10","position":[0.5104876982860664,0.6070768280753671,0.71338606911949],"aabb_xy":[[0.4626815306722978,0.542076825368308],[0.5582938658998351,0.672076830782426]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_11","position":[0.39400343119554093,-0.34113843296200086,0.71338606911949],"aabb_xy":[[0.38867091654092795,-0.34646276120723646],[0.3993359458501539,-0.33581410471676526]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_12","position":[0.31879012436950793,-1.8001595811384106,0.71338606911949],"aabb_xy":[[0.2812901240212802,-1.8119509767194937],[0.3562901247177357,-1.7883681855573266]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.632426762275389,-0.09230501938984892,0.71338606911949],"aabb_xy":[[0.594926762169796,-0.09912718124283006],[0.6699267623809819,-0.08548285753686781]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_14","position":[0.46656992204688197,1.0080583606527704,0.71338606911949],"aabb_xy":[[0.38656992338999596,0.9935535017285076],[0.546569920703768,1.0225632195770333]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.2146588944197756,-1.4720568913311882,0.71338606911949],"aabb_xy":[[-0.2646418446072548,-1.5220568909737484],[-0.1646759442322962,-1.4220568916886276]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_16","position":[0.1374527474430114,1.104801681461547,0.71338606911949],"aabb_xy":[[0.13103893379982642,1.0983918612138783],[0.1438665610861963,1.111211501709215]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_17","position":[0.6478780671552729,-0.9962021644163659,0.71338606911949],"aabb_xy":[[0.5828780661981456,-1.0481503763500712],[0.7128780681124001,-0.9442539524826603]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[-0.17820829291473683,1.5636807048894625,0.71338606911949],"aabb_xy":[[-0.26820828965034704,1.510497241572168],[-0.0882082961791266,1.616864168206757]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_19","position":[0.61065455212306,-0.3695804092643322,0.71338606911949],"aabb_xy":[[0.6043424525867216,-0.375347348517551],[0.6169666516593983,-0.3638134700111134]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.201670329711785,-0.9593188615656154,0.71338606911949],"aabb_xy":[[0.13667032707399152,-1.0107984602650624],[0.2666703323495785,-0.9078392628661685]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6825712091542402,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5373.png","name":"5373"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5373.png","name":"5373"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7456.png","name":"7456"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6378.png","name":"6378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9153.png","name":"9153"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8566.png","name":"8566"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":517.0979335805085,"rotation_z_degrees":97.30372531606054,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01143007442203783,0.0034428992023160694,-0.013385479344404629]},{"name":"camera_2","offset_m":[0.013233623717543278,0.012597114856326853,-0.016115609208770382]},{"name":"camera_3","offset_m":[-0.00570099636845621,0.01061695595185922,0.01802112108347145]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011822562488936908,-0.0015093733118395041,-0.00010688930099535016],"end_effector_yaw_offset_degrees":-0.720132587856565},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0005613152046750162,-0.0018603735090619426,-0.0010686087144592498],"end_effector_yaw_offset_degrees":0.0222215856118948},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[2.688207347168554e-05,-0.0009407578083735176,0.0004643036138236305],"end_effector_yaw_offset_degrees":0.11726577761863144},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017793325652717476,0.00100561479793904,0.0018752663464083556],"end_effector_yaw_offset_degrees":0.3893634686812495},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012550965782721461,0.0016540118836966405,-5.0768004963943616e-05],"end_effector_yaw_offset_degrees":-0.4795627860328322},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00027918423797263035,-0.0019888356828300646,0.001487831177676117],"end_effector_yaw_offset_degrees":-0.6968111967074817}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003138588531321123,-0.0012420072732033526],"position_m":[0.14363858853132114,0.23345799272679663,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[2.8813688364090484e-06,-0.003200813430832679],"position_m":[0.21360288136883643,-0.05690081343083268,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004178997617600533,0.004863278348631807],"position_m":[0.24492100238239944,-0.3785367216513682,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0012994402835345598,-0.0031012281541650077],"position_m":[0.35230055971646546,0.11409877184583499,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b2c3c44d792da5be0055ece3691feb00ec5df97c41e682e772ef7227e52c9d06","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0075.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5373/tex_ceiling_textures_8566/tex_floor_textures_9153/tex_table_textures_7456/tex_wall_textures_6378","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4149604766909676084,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4149604766909676084,"visual_seed":4149604766909676084,"scene_id":"lab_003","finished_at":"2026-09-06T16:04:12"} +{"episode_id":"ep_000074","started_at":"2026-09-06T16:04:18","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[0.526484483568578,-0.34503235982827807,0.71338606911949],"aabb_xy":[[0.5088088529799797,-0.36271257610768076],[0.5441601141571764,-0.32735214354887526]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.06366114359145036,1.040825041572265,0.71338606911949],"aabb_xy":[[0.05762413059078564,1.034798340503317],[0.06969815659211509,1.0468517426412132]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_2","position":[0.3505373068029949,-2.352135843162971,0.71338606911949],"aabb_xy":[[0.33303730752490807,-2.369473943229317],[0.3680373060810818,-2.334797743096625]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_3","position":[-0.6238980078725214,-0.7045584079715672,0.71338606911949],"aabb_xy":[[-0.6358307422343494,-0.7169405607794265],[-0.6119652735106933,-0.6921762551637077]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.4780790545850453,-1.5119940987038436,0.71338606911949],"aabb_xy":[[-0.5030790537506784,-1.5189463444092002],[-0.4530790554194121,-1.505041852998487]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_5","position":[-0.0362409791568481,1.4664651573126934,0.71338606911949],"aabb_xy":[[-0.045400858100724695,1.4599339392691562],[-0.0270811002129715,1.4729963753562303]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_6","position":[-0.22016419691893885,-1.707096372784306,0.71338606911949],"aabb_xy":[[-0.2380333046733943,-1.720929280761517],[-0.20229508916448333,-1.693263464807095]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_7","position":[0.7020026868786564,0.9840945418900007,0.71338606911949],"aabb_xy":[[0.6942994962045793,0.9763851711912626],[0.7097058775527333,0.9918039125887386]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_8","position":[0.4156539006758775,-2.198651418890165,0.71338606911949],"aabb_xy":[[0.3981539015415103,-2.2085310459277525],[0.43315389981024466,-2.188771791852577]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[-0.08475570485881878,-2.0858510728959883,0.71338606911949],"aabb_xy":[[-0.1159026237024019,-2.1558510715827954],[-0.053608786015235665,-2.015851074209181]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_10","position":[-0.34862906631472146,1.2793637246797522,0.71338606911949],"aabb_xy":[[-0.39861330202289874,1.2293637258662566],[-0.2986448306065443,1.3293637234932478]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_11","position":[0.08181349844649,-0.7463467294811763,0.71338606911949],"aabb_xy":[[0.07539968480330506,-0.7527565497288444],[0.08822731208967494,-0.7399369092335077]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_12","position":[-0.49537661843119113,0.7540362006709351,0.71338606911949],"aabb_xy":[[-0.5000117335834243,0.7501688655937863],[-0.49074150327895755,0.7579035357480836]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[-0.4708345360906567,-1.981236447274536,0.71338606911949],"aabb_xy":[[-0.5083345361962497,-1.9880586091275174],[-0.4333345359850637,-1.9744142854215552]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_14","position":[-0.2865087655346966,1.6346257733803262,0.71338606911949],"aabb_xy":[[-0.366508766607817,1.6248477270429418],[-0.20650876446157634,1.6444038197177107]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_15","position":[0.6574612142863445,-2.3119178369880418,0.71338606911949],"aabb_xy":[[0.6487472452364099,-2.334417837647229],[0.6661751833362789,-2.2894178363288527]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_16","position":[-0.12183934570772992,-2.2392176827793078,0.71338606911949],"aabb_xy":[[-0.17183934665826273,-2.2707668297828287],[-0.0718393447571971,-2.207668535775786]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_17","position":[-0.44835838084493335,-0.13018370297654958,0.71338606911949],"aabb_xy":[[-0.5283583782485267,-0.2101762741747324],[-0.36835838344133986,-0.05019113177836678]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_18","position":[0.06604934448699418,-2.504361300673852,0.71338606911949],"aabb_xy":[[0.06071682983238119,-2.5096856289190876],[0.07138185914160716,-2.499036972428616]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_19","position":[-0.36268464460956873,-1.4020513071156233,0.71338606911949],"aabb_xy":[[-0.39133397696998484,-1.4306968663926989],[-0.3340353122491524,-1.3734057478385473]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_20","position":[0.43011193735991915,-1.0571724974256733,0.71338606911949],"aabb_xy":[[0.37011193676390297,-1.111984969970897],[0.49011193795593533,-1.00236002488045]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_21","position":[0.41342549297281983,-0.1804662471459184,0.71338606911949],"aabb_xy":[[0.39521966931157215,-0.19149164772791008],[0.4316313166340675,-0.1694408465639268]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.4149273246814375,0.25612392694566166,0.71338606911949],"aabb_xy":[[-0.4700525303110282,0.1961239255043745],[-0.35980211905184667,0.31612392838694875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.682260277827423,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9848.png","name":"9848"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9848.png","name":"9848"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4837.png","name":"4837"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6732.png","name":"6732"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7023.png","name":"7023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9592.png","name":"9592"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":614.9134135469341,"rotation_z_degrees":251.8636265522921,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005042668959260092,0.014418611545320415,-0.0008117346452439084]},{"name":"camera_2","offset_m":[-0.012821600878400998,0.013925794767124817,-0.01063176631703973]},{"name":"camera_3","offset_m":[-0.011762861478650364,-0.0006935994917007457,0.007943891364143876]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001712091171434122,0.0017465607729225982,-0.0011559041759753256],"end_effector_yaw_offset_degrees":0.5647306882430927},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.000885044526731008,-0.0008001374963131221,-0.0005451981746173104],"end_effector_yaw_offset_degrees":0.8387173857801782},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003044475583745981,0.0003041588530526681,0.00159819785302966],"end_effector_yaw_offset_degrees":-0.26029624590795075},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002624832135272345,-0.0012502597603582552,-0.0008697337699820889],"end_effector_yaw_offset_degrees":-0.597107103078399},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019611376025429994,-0.0019402342806127636,0.0019858022144728414],"end_effector_yaw_offset_degrees":0.6712477759262854},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001884739715182251,0.0010656122947424016,-7.524286601280541e-06],"end_effector_yaw_offset_degrees":-0.9160770983669377}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003530055033484865,-0.00464402138092577],"position_m":[0.13696994496651516,0.23005597861907423,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030957505830253762,-0.00019700578256267708],"position_m":[0.21050424941697463,-0.05389700578256267,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004751684052206847,0.0045650711903036665],"position_m":[0.24434831594779313,-0.3788349288096963,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004794563298608654,-0.0029967473140264434],"position_m":[0.34880543670139136,0.11420325268597356,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3f4d0783deb920b11baf520226eabc2cf019f994022c96a144f1c9872dbf4021","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0076.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_9848/tex_ceiling_textures_9592/tex_floor_textures_7023/tex_table_textures_4837/tex_wall_textures_6732","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2192115475535704358,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2192115475535704358,"visual_seed":2192115475535704358,"scene_id":"lab_003","finished_at":"2026-09-06T16:10:05"} +{"episode_id":"ep_000075","started_at":"2026-09-06T16:10:12","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_0","position":[0.091484588219933,1.7315545619771862,0.71338606911949],"aabb_xy":[[0.08349109842465098,1.7235564300367112],[0.09947807801521505,1.7395526939176624]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.5665656859135282,1.3555736204795474,0.71338606911949],"aabb_xy":[[0.55894141782335,1.347940396943004],[0.5741899540037065,1.3632068440160914]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[0.032695457496930036,0.7672049907325529,0.71338606911949],"aabb_xy":[[-0.05730454109753991,0.7509544044191319],[0.12269545609139998,0.7834555770459739]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[0.4996426786370296,1.7425542980070294,0.71338606911949],"aabb_xy":[[0.45687597175760947,1.678554294585227],[0.5424093855164498,1.8065543014288319]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_4","position":[-0.3038768837654995,-1.474684930196323,0.71338606911949],"aabb_xy":[[-0.31674878726643957,-1.554684930610159],[-0.2910049802645593,-1.3946849297824868]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.40770335197030844,-2.228956136935642,0.71338606911949],"aabb_xy":[[-0.4577033533311956,-2.2789340415110573],[-0.35770335060942116,-2.178978232360226]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.5281607773626515,1.6432497239995905,0.71338606911949],"aabb_xy":[[-0.5341977903633164,1.6372230229306424],[-0.5221237643619869,1.6492764250685386]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_7","position":[0.2572962380741589,-1.9756006847497942,0.71338606911949],"aabb_xy":[[0.22229623894420325,-1.9813459058254583],[0.2922962372041146,-1.9698554636741301]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_8","position":[0.17649145765145857,1.3747022683819696,0.71338606911949],"aabb_xy":[[0.12649644669200658,1.324702269346378],[0.22648646861091065,1.4247022674175613]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_9","position":[0.205027911954777,-1.7730658364001766,0.71338606911949],"aabb_xy":[[0.13502790982334742,-1.795827802025872],[0.2750279140862065,-1.7503038707744807]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.05265906905598683,-1.2259735166525112,0.71338606911949],"aabb_xy":[[0.03445324539473915,-1.236998917234503],[0.0708648927172345,-1.2149481160705198]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_11","position":[0.7019235511984367,-1.4813572065444607,0.71338606911949],"aabb_xy":[[0.6942203605243596,-1.4890665772431988],[0.7096267418725136,-1.4736478358457226]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.5263333213695929,-1.9848507338202168,0.71338606911949],"aabb_xy":[[-0.5356269396067435,-2.0223507323083503],[-0.5170397031324423,-1.9473507353320827]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.07932554527410685,1.7415585934009843,0.71338606911949],"aabb_xy":[[-0.11432554662558858,1.7211988574441635],[-0.04432554392262512,1.7619183293578051]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_14","position":[0.6203029857185345,0.4316258773059891,0.71338606911949],"aabb_xy":[[0.5832688762904746,0.3972486699722796],[0.6573370951465941,0.46600308463969853]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[0.5800754120519975,-0.4580223583230145,0.71338606911949],"aabb_xy":[[0.5100754102432521,-0.4793761270872019],[0.650075413860743,-0.43666858955882715]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_16","position":[0.03528569414841265,-1.575187261142477,0.71338606911949],"aabb_xy":[[0.0177073919594658,-1.592761750716582],[0.0528639963373595,-1.557612771568372]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_17","position":[0.5073171236469305,-0.7099719036006105,0.71338606911949],"aabb_xy":[[0.4698171233547557,-0.7140133790012141],[0.5448171239391053,-0.7059304282000068]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_18","position":[0.350787608208035,-0.8569284628379443,0.71338606911949],"aabb_xy":[[0.2607876114724248,-0.9101119261552387],[0.4407876049436452,-0.8037449995206497]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_19","position":[0.6124406667217661,-2.3185146203129143,0.71338606911949],"aabb_xy":[[0.5899406662097255,-2.3410064786783122],[0.6349406672338067,-2.2960227619475155]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_20","position":[-0.1437343556489593,-0.40182160452503624,0.71338606911949],"aabb_xy":[[-0.16873435558147723,-0.40870427274595966],[-0.11873435571644145,-0.39493893630411303]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_21","position":[0.4737751782224393,-1.0430721572290376,0.71338606911949],"aabb_xy":[[0.46736136457925426,-1.0494819774767057],[0.48018899186562414,-1.036662336981369]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[-0.5323321985149185,1.2176156652586134,0.71338606911949],"aabb_xy":[[-0.5469756040689514,1.2029569456018292],[-0.5176887929608854,1.2322743849153976]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.42700181808974896,-0.04119114610068664,0.71338606911949],"aabb_xy":[[-0.5170018145906208,-0.08710278851914487],[-0.3370018215888772,0.004720496317771604]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_24","position":[-0.08574307663112812,1.212958020530463,0.71338606911949],"aabb_xy":[[-0.09454513194010083,1.2051466943755338],[-0.07694102132215541,1.220769346685392]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_25","position":[0.22945826323658658,-1.2306499977737617,0.71338606911949],"aabb_xy":[[0.19354475881159686,-1.2665635059905165],[0.2653717676615762,-1.1947364895570074]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_26","position":[0.3162176438894808,1.6998899631529834,0.71338606911949],"aabb_xy":[[0.2883726071088737,1.6691054644146717],[0.34406268067008794,1.730674461891295]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_27","position":[0.22134697908515666,1.18548099830869,0.71338606911949],"aabb_xy":[[0.1313469767511376,1.1079986437235774],[0.3113469814191757,1.2629633528938027]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_28","position":[0.5831729102271317,-0.1879262660825911,0.71338606911949],"aabb_xy":[[0.5280477045975408,-0.24792626752387825],[0.6382981158567224,-0.12792626464130397]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_29","position":[-0.19429098310371473,1.6549232608076223,0.71338606911949],"aabb_xy":[[-0.216790983113863,1.640827041168019],[-0.1717909830935664,1.6690194804472256]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_30","position":[0.6675437505925483,1.0533843857754661,0.71338606911949],"aabb_xy":[[0.6330812725794605,1.0467207085925432],[0.702006228605636,1.0600480629583886]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[-0.4460830931811335,1.303475179529543,0.71338606911949],"aabb_xy":[[-0.4580158275429615,1.2910930267216836],[-0.43415035881930536,1.3158573323374023]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6837561698010344,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2772.png","name":"2772"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2772.png","name":"2772"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5998.png","name":"5998"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3672.png","name":"3672"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8816.png","name":"8816"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5696.png","name":"5696"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":576.1696040339565,"rotation_z_degrees":197.82068574148468,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0008203404360493174,-0.008378180196914432,-0.002050146072916245]},{"name":"camera_2","offset_m":[7.252899652826147e-05,0.0009709273237858036,0.017208958327916257]},{"name":"camera_3","offset_m":[0.018051136082521655,-0.0030387244200417857,0.0011802543234493007]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014240888412101523,-0.0005638449656948218,0.0014413268823412406],"end_effector_yaw_offset_degrees":-0.3522082398815538},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.000971527619617257,-0.000842979516844483,0.00025325190297144666],"end_effector_yaw_offset_degrees":-0.35849710093671816},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015178476638358727,0.0014482660849288605,-0.0015052976699263753],"end_effector_yaw_offset_degrees":0.39750973469054474},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007436003264059002,0.0013206251210513267,2.5094360474250954e-06],"end_effector_yaw_offset_degrees":0.3398219259575066},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014694228374450015,0.00034682657672077373,0.0018300568059236794],"end_effector_yaw_offset_degrees":-0.6127073592018115},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00020728102852438958,0.0007740452692085462,0.0015419498531036228],"end_effector_yaw_offset_degrees":0.579959614931846}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00288269623779541,-0.00494506626972876],"position_m":[0.14338269623779543,0.22975493373027123,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005866889710454352,0.0005287014565038498],"position_m":[0.21301331102895457,-0.05317129854349615,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032803798087382994,0.004074980697272271],"position_m":[0.2458196201912617,-0.3793250193027278,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00040861803790555404,0.0013545996308332222],"position_m":[0.3531913819620945,0.11855459963083322,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fd5085fc15dcffaa43306304d46f8d64bb27026c41183f2f47489a35caa81fd3","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_2772/tex_ceiling_textures_5696/tex_floor_textures_8816/tex_table_textures_5998/tex_wall_textures_3672","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":4072115197615582164,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":4072115197615582164,"visual_seed":4072115197615582164,"scene_id":"lab_003","finished_at":"2026-09-06T16:15:19"} +{"episode_id":"ep_000076","started_at":"2026-09-06T16:15:25","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[-0.5045421741114956,-0.1525217665726717,0.71338606911949],"aabb_xy":[[-0.5540225953254544,-0.21652176448552352],[-0.4550617528975368,-0.08852176865981987]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_1","position":[0.5176219187741982,1.5394020274500977,0.71338606911949],"aabb_xy":[[0.43762192079341317,1.5318004864882457],[0.5976219167549832,1.5470035684119496]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[0.28235173505462374,0.8066031454069771,0.71338606911949],"aabb_xy":[[0.2742240468613105,0.7976895369962694],[0.29047942324793696,0.8155167538176847]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_3","position":[-0.3438203793122093,-1.642527470228512,0.71338606911949],"aabb_xy":[[-0.3593761487224746,-1.6580779034729194],[-0.32826460990194406,-1.626977036984105]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_4","position":[0.44202998489926193,0.29119851480447156,0.71338606911949],"aabb_xy":[[0.4195299853755544,0.26870256735385073],[0.4645299844229692,0.3136944622550923]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[0.4014153962330973,1.685441685084426,0.71338606911949],"aabb_xy":[[0.31141539681472635,1.6520661882402363],[0.49141539565146813,1.7188171819286158]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_6","position":[-0.5110926369535058,1.2133734936788847,0.71338606911949],"aabb_xy":[[-0.5236953360905823,1.2007780974540192],[-0.49848993781642936,1.2259688899037502]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.3968105301971622,-1.4202031849959436,0.71338606911949],"aabb_xy":[[-0.45840128942115504,-1.4842031831049904],[-0.3352197709731694,-1.3562031868868967]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_8","position":[-0.5141010062969315,1.4601470476746958,0.71338606911949],"aabb_xy":[[-0.5287444118509644,1.4454883280179114],[-0.49945760074289847,1.4748057673314798]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_9","position":[-0.3529750194263191,0.9354910893727806,0.71338606911949],"aabb_xy":[[-0.41697502110431645,0.8869736978934663],[-0.28897501774832174,0.9840084808520947]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.1340218199876233,-0.40818637921363443,0.71338606911949],"aabb_xy":[[-0.15652181980152569,-0.4126609955841151],[-0.11152182017372092,-0.40371176284315374]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_11","position":[0.33266927707482963,-1.093961679065393,0.71338606911949],"aabb_xy":[[0.2776692788730848,-1.1344836456918304],[0.38766927527657447,-1.0534397124389552]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_12","position":[-0.1897956714264255,-0.8541610517138998,0.71338606911949],"aabb_xy":[[-0.20747130201502384,-0.8718412679933024],[-0.17212004083782717,-0.8364808354344969]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_13","position":[-0.1388349419376369,-1.0034775868547536,0.71338606911949],"aabb_xy":[[-0.16383494110327002,-1.0104298325601102],[-0.11383494277200379,-0.9965253411493971]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_14","position":[0.4774920387903099,-2.2880326934942747,0.71338606911949],"aabb_xy":[[0.4134920373823192,-2.339821645018199],[0.5414920401983006,-2.2362437419703496]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_15","position":[-0.29179186357635467,0.342496233801977,0.71338606911949],"aabb_xy":[[-0.29712437823096766,0.3371719055567415],[-0.2864593489217417,0.3478205620472127]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.23404220371246198,-1.7762907771436554,0.71338606911949],"aabb_xy":[[0.22600586901117714,-1.7843288964480717],[0.24207853841374682,-1.7682526578392381]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_17","position":[-0.06572531731832165,-1.6632782793646304,0.71338606911949],"aabb_xy":[[-0.12572531756972283,-1.717559604401095],[-0.005725317066920477,-1.6089969543281657]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_18","position":[-0.0733150341216865,0.2881708659406672,0.71338606911949],"aabb_xy":[[-0.08524776848351456,0.2757887131328079],[-0.06138229975985843,0.30055301874852663]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_19","position":[0.18110822862192266,1.2155770622582192,0.71338606911949],"aabb_xy":[[0.14360823019852226,1.2024128482903882],[0.21860822704532296,1.2287412762260497]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_20","position":[-0.6312217657991598,0.9182938940619625,0.71338606911949],"aabb_xy":[[-0.6536865357705648,0.895793893183102],[-0.6087569958277546,0.940793894940823]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.3069195137766294,0.1563925613904873,0.71338606911949],"aabb_xy":[[-0.32280400704195455,0.14203962109166324],[-0.29103502051130425,0.17074550168931135]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_22","position":[0.36257459216804544,0.820853957004887,0.71338606911949],"aabb_xy":[[0.35386062311811095,0.7983539563456987],[0.37128856121797993,0.8433539576640752]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_23","position":[-0.3673441643141253,0.7604819842293646,0.71338606911949],"aabb_xy":[[-0.4273441641606921,0.703663362036326],[-0.3073441644675585,0.8173006064224033]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_24","position":[0.5747324539972372,1.7039936071088913,0.71338606911949],"aabb_xy":[[0.5687659150565014,1.698032462449527],[0.5806989929379729,1.7099547517682554]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_25","position":[-0.1216767169464974,-1.4185558317819638,0.71338606911949],"aabb_xy":[[-0.20167671722010438,-1.4915053796076807],[-0.04167671667289042,-1.3456062839562473]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_26","position":[-0.29704478416389624,-0.0958296174469675,0.71338606911949],"aabb_xy":[[-0.3670447857661757,-0.10926241064862507],[-0.22704478256161675,-0.08239682424530992]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.20985481883844315,-2.4992473565678135,0.71338606911949],"aabb_xy":[[-0.2473548189440361,-2.5060695184207944],[-0.1723548187328502,-2.4924251947148326]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6840978091237466,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4275.png","name":"4275"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2565.png","name":"2565"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5766.png","name":"5766"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8057.png","name":"8057"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1724.png","name":"1724"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":526.7947086229293,"rotation_z_degrees":63.17078826245216,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.00991638373047012,-0.017894900575276082,-0.0013111658304448513]},{"name":"camera_2","offset_m":[0.011660427949503404,-0.007617092242229347,-0.0036322927941203273]},{"name":"camera_3","offset_m":[-0.010110516505319338,0.0014059409702285447,0.006875969963543935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000548919078589832,-0.0013951479422215783,-0.0007232821407649999],"end_effector_yaw_offset_degrees":-0.1120280152756159},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012253861236563857,-0.0011317768076467322,0.0004058206951130989],"end_effector_yaw_offset_degrees":0.23209864434869187},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011442517366603653,-0.0014341194508433262,-0.0018089754242297182],"end_effector_yaw_offset_degrees":0.09222436289299218},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001661339841380556,-0.001382781929398503,-0.0019626161146372623],"end_effector_yaw_offset_degrees":-0.7379146857305896},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018979907718605863,0.0002829946602333111,0.0005594121718208384],"end_effector_yaw_offset_degrees":0.19386428987504178},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00023529200992090482,0.0002940934074528818,-0.000415649676591709],"end_effector_yaw_offset_degrees":-0.7820131504664236}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005815760265604928,-0.00080865683450255],"position_m":[0.1399184239734395,0.23389134316549745,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002394827756335163,0.004307016464486147],"position_m":[0.21120517224366486,-0.04939298353551385,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025419265833271764,0.00456750827468017],"position_m":[0.24655807341667282,-0.37883249172531985,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0011750812669156286,-0.0014756117316366345],"position_m":[0.3524249187330844,0.11572438826836337,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8b3aaf7950740f9d3e7c2699f3c98dc308907e4d4a1adc1921196ded2010f74c","episode_index":78,"episode_name":"episode_0078"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0078.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_4275/tex_ceiling_textures_1724/tex_floor_textures_8057/tex_table_textures_2565/tex_wall_textures_5766","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8961922685274583974,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8961922685274583974,"visual_seed":8961922685274583974,"scene_id":"lab_003","finished_at":"2026-09-06T16:21:12"} +{"episode_id":"ep_000077","started_at":"2026-09-06T16:21:18","dimensions":{"distractor":{"count":34,"items":[{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_0","position":[0.4342398308147799,1.3290297890099874,0.71338606911949],"aabb_xy":[[0.35423983034456397,1.320719081395639],[0.5142398312849958,1.3373404966243356]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_1","position":[0.6069561472674063,-2.059246890984509,0.71338606911949],"aabb_xy":[[0.5989127873414511,-2.1442468920798756],[0.6149995071933615,-1.9742468898891428]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[-0.19211197391122958,1.281378364013297,0.71338606911949],"aabb_xy":[[-0.24710745173188897,1.2263783625793898],[-0.1371164960905702,1.3363783654472037]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_3","position":[-0.6293428448200045,0.12674870057200716,0.71338606911949],"aabb_xy":[[-0.6933428470404115,0.08237561644671887],[-0.5653428425995974,0.17112178469729544]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[-0.1886874892015722,0.31081388372682106,0.71338606911949],"aabb_xy":[[-0.20569758649162284,0.2946793952285472],[-0.17167739191152154,0.32694837222509504]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_5","position":[0.17112986202745883,1.313105477173802,0.71338606911949],"aabb_xy":[[0.09112986506441967,1.2360298355300285],[0.251129858990498,1.3901811188175754]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_6","position":[0.13166729603162697,-1.7293125477546945,0.71338606911949],"aabb_xy":[[0.06666729503112645,-1.7800989129093694],[0.19666729703212749,-1.6785261826000195]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_7","position":[0.6959452948288349,1.7193286423313663,0.71338606911949],"aabb_xy":[[0.6909892746439538,1.6968286421292451],[0.7009013150137161,1.7418286425334883]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_8","position":[0.2365940020528401,1.6902712288712585,0.71338606911949],"aabb_xy":[[0.20159400215682122,1.6818969933593184],[0.27159400194885897,1.6986454643831985]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_9","position":[0.5697450108464408,1.53857704740297,0.71338606911949],"aabb_xy":[[0.546829297961391,1.5156727502665468],[0.5926607237314908,1.5614813445393938]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_10","position":[0.5535264715467758,-1.627093303314607,0.71338606911949],"aabb_xy":[[0.4984012659171851,-1.687093304755894],[0.6086516771763666,-1.5670933018733197]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.6878084260104496,1.4188825339242315,0.71338606911949],"aabb_xy":[[0.6726455530335125,1.403717076629113],[0.7029712989873866,1.4340479912193504]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.26331142526559936,-0.92386968602217,0.71338606911949],"aabb_xy":[[0.23831142599363705,-0.9402150496183324],[0.2883114245375616,-0.9075243224260077]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_13","position":[-0.4293627883090756,1.4968892451299571,0.71338606911949],"aabb_xy":[[-0.43640309824261275,1.4168892457302857],[-0.42232247837553877,1.5768892445296288]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.5321280442359748,0.052772498187384276,0.71338606911949],"aabb_xy":[[0.5118437415125761,0.032489873044675426],[0.5524123469593736,0.0730551233300931]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[-0.1579178414055452,1.774296865235716,0.71338606911949],"aabb_xy":[[-0.1660455295988584,1.7653832568250085],[-0.14979015321223196,1.783210473646424]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_16","position":[0.26742593192607467,0.5023125383826206,0.71338606911949],"aabb_xy":[[0.25701437324559095,0.4969668050467221],[0.2778374906065584,0.5076582717185191]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.4599612392794625,0.2937020709643394,0.71338606911949],"aabb_xy":[[-0.48995290201333275,0.2637020716275389],[-0.4299695765455921,0.32370207030113995]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_18","position":[0.3580491468964486,-1.8408510084303527,0.71338606911949],"aabb_xy":[[0.3269022280528655,-1.9108510071171598],[0.38919606574003174,-1.7708510097435455]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[0.1524812080818947,-0.8222238953023246,0.71338606911949],"aabb_xy":[[0.14543975713114712,-0.8292506470401191],[0.15952265903264232,-0.81519714356453]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[0.27796160941762127,-0.5747190559517019,0.71338606911949],"aabb_xy":[[0.24366469839988064,-0.6090159421616432],[0.3122585204353619,-0.5404221697417606]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_21","position":[-0.631911398513201,-2.1273710797986722,0.71338606911949],"aabb_xy":[[-0.6820088624942746,-2.191371080308484],[-0.5818139345321274,-2.0633710792888604]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_22","position":[-0.26798268745380815,0.9765421498070506,0.71338606911949],"aabb_xy":[[-0.27985477046530927,0.8915421501134001],[-0.25611060444230704,1.061542149500701]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_23","position":[0.23447954728406617,0.8137708143873361,0.71338606911949],"aabb_xy":[[0.21201477731266105,0.7912708135084756],[0.2569443172554713,0.8362708152661966]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_24","position":[0.02061054536695217,1.6630768433792125,0.71338606911949],"aabb_xy":[[0.005054775956686905,1.6475264101348055],[0.036166314777217434,1.6786272766236199]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_25","position":[-0.038492140478846415,1.5165719523080736,0.71338606911949],"aabb_xy":[[-0.07226769966953939,1.5025334570949087],[-0.004716581288153443,1.5306104475212385]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_26","position":[-0.6304558532866524,0.22849731504307513,0.71338606911949],"aabb_xy":[[-0.6341591146157912,0.22479529673435725],[-0.6267525919575134,0.23219933335179296]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_27","position":[0.4994244025195107,-2.3817439638131637,0.71338606911949],"aabb_xy":[[0.40942440279633646,-2.404817316348343],[0.5894244022426848,-2.3586706112779834]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_28","position":[-0.2315680540059497,-2.2561845923389643,0.71338606911949],"aabb_xy":[[-0.2955680513082961,-2.3005510193068206],[-0.1675680567036033,-2.211818165371107]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_29","position":[0.31755477682439404,1.094881269861463,0.71338606911949],"aabb_xy":[[0.252554778668475,1.068585025311551],[0.3825547749803131,1.1211775144113754]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_30","position":[-0.3649642953746715,0.6330019419911737,0.71338606911949],"aabb_xy":[[-0.36887816857009403,0.6242529265846168],[-0.361050422179249,0.6417509573977305]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_31","position":[-0.2139938144894331,0.11051677581471386,0.71338606911949],"aabb_xy":[[-0.22279586979840582,0.10270544965978477],[-0.2051917591804604,0.11832810196964293]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_32","position":[-0.4567700171619007,-1.4300822890627014,0.71338606911949],"aabb_xy":[[-0.5207700174358789,-1.4801483892599894],[-0.39277001688792246,-1.3800161888654134]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_33","position":[-0.13292691196613993,-0.9846121603786642,0.71338606911949],"aabb_xy":[[-0.14114145708182388,-0.9932887506763052],[-0.12471236685045593,-0.9759355700810225]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6836882046611461,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1864.png","name":"1864"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1864.png","name":"1864"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/509.png","name":"509"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1571.png","name":"1571"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5073.png","name":"5073"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8046.png","name":"8046"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":711.1087972369899,"rotation_z_degrees":193.0940198173639,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019137888959053936,-0.004569729191667156,0.012136966717046723]},{"name":"camera_2","offset_m":[-0.0067467379518440975,-0.0052506579746419875,0.016229251804008495]},{"name":"camera_3","offset_m":[0.01941151714904472,0.019798461691135496,-0.011099999836152912]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00018589385246456304,-0.0004572319621590074,0.00039660608559847826],"end_effector_yaw_offset_degrees":-0.9088949175068917},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0012624551772202558,0.0011513725840540277,0.0011051444336141808],"end_effector_yaw_offset_degrees":-0.7579308252110677},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00036435767215862395,0.00045460581915795486,1.5565235795607802e-05],"end_effector_yaw_offset_degrees":-0.2560528391715897},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00039743913843691696,0.0008308907101942831,-0.0017275217895162697],"end_effector_yaw_offset_degrees":0.3943691252237014},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006036337091208156,0.0012371901825970907,-0.0009606030640552713],"end_effector_yaw_offset_degrees":-0.7254104291749277},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00034435981996665753,0.0009606948152731643,0.0005874816584060549],"end_effector_yaw_offset_degrees":0.9692982109528347}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002191658463361775,-0.0004014849268967422],"position_m":[0.13830834153663824,0.23429851507310326,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007809147720080267,0.0034289753645817085],"position_m":[0.21438091477200805,-0.05027102463541829,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028366239640464554,0.004864062658056907],"position_m":[0.24626337603595352,-0.37853593734194313,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0045796452698230895,0.0017625406708982909],"position_m":[0.34902035473017695,0.11896254067089829,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e988df7ea68fef7bd783342ba84fed7963f7c4341b83d95ba145b707a56755b","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0079.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_1864/tex_ceiling_textures_8046/tex_floor_textures_5073/tex_table_textures_509/tex_wall_textures_1571","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":3571047132792163468,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":3571047132792163468,"visual_seed":3571047132792163468,"scene_id":"lab_003","finished_at":"2026-09-06T16:27:10"} +{"episode_id":"ep_000078","started_at":"2026-09-06T16:27:17","dimensions":{"distractor":{"count":33,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[0.6490823427894346,-2.057523297096726,0.71338606911949],"aabb_xy":[[0.6416698872480461,-2.0633745075183536],[0.656494798330823,-2.0516720866750977]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.43873016946350385,1.0693302930673125,0.71338606911949],"aabb_xy":[[-0.44814764403336654,1.0599141159295933],[-0.42931269489364104,1.0787464702050313]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.35473047872930263,0.7557222110951107,0.71338606911949],"aabb_xy":[[0.34594925158206646,0.7469424638065807],[0.3635117058765389,0.7645019583836411]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.16814410277033187,-1.0355316821315301,0.71338606911949],"aabb_xy":[[0.08814410134020467,-1.1150488371441394],[0.24814410420045907,-0.9560145271189204]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.2913959144543255,0.20555337163700704,0.71338606911949],"aabb_xy":[[-0.3088959135886926,0.19567374459941922],[-0.27389591531995827,0.21543299867459487]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_5","position":[0.49315571140571013,-1.0776042088864937,0.71338606911949],"aabb_xy":[[0.43803050577611935,-1.1376042103277806],[0.5482809170353009,-1.0176042074452063]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_6","position":[0.2655926317306283,-2.10097648379415,0.71338606911949],"aabb_xy":[[0.2497081384653031,-2.115329424092974],[0.2814771249959534,-2.0866235434953255]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_7","position":[-0.21271938287820247,0.370548716981995,0.71338606911949],"aabb_xy":[[-0.25789070072637144,0.3065487198374566],[-0.16754806503003347,0.43454871412653345]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_8","position":[-0.5189730323656941,1.6522776400506678,0.71338606911949],"aabb_xy":[[-0.5829730316598624,1.5882914996818134],[-0.4549730330715259,1.7162637804195218]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_9","position":[-0.3699731376527179,-0.032211279694469575,0.71338606911949],"aabb_xy":[[-0.3888575214212281,-0.051097204474822355],[-0.3510887538842077,-0.013325354914116794]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_10","position":[-0.32018702171262337,-1.7015969945092972,0.71338606911949],"aabb_xy":[[-0.38418702500233143,-1.7449319135132149],[-0.2561870184229152,-1.6582620755053796]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_11","position":[-0.22117281376235837,-2.118431792503519,0.71338606911949],"aabb_xy":[[-0.246393650622198,-2.143655543356405],[-0.19595197690251867,-2.093208041650631]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[0.3507624788707191,1.5214020246679802,0.71338606911949],"aabb_xy":[[0.3466465287586463,1.5172864696351345],[0.35487842898279165,1.5255175797008256]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.41442023802433525,-2.3147940557419875,0.71338606911949],"aabb_xy":[[-0.4295924073059687,-2.3299629126701915],[-0.399248068742702,-2.2996251988137844]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_14","position":[-0.5652363750431448,-0.8550039700221237,0.71338606911949],"aabb_xy":[[-0.5976980759250722,-0.8851368021370262],[-0.5327746741612173,-0.824871137907221]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[0.19772233942070627,0.9900106285097392,0.71338606911949],"aabb_xy":[[0.19068202948716934,0.9100106291100679],[0.20476264935424332,1.0700106279094106]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[0.3411891081619902,0.42030410354461445,0.71338606911949],"aabb_xy":[[0.31667548406498436,0.396039510242578],[0.3657027322589961,0.4445686968466509]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_17","position":[0.3254037944668322,-2.2130052019469426,0.71338606911949],"aabb_xy":[[0.23540379587236226,-2.229255788260364],[0.41540379306130215,-2.1967546156335214]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_18","position":[0.6185621201743474,0.8529350632121813,0.71338606911949],"aabb_xy":[[0.6015520228842968,0.8368005747139075],[0.6355722174643981,0.8690695517104553]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_19","position":[0.32155457302616375,0.9224332882584423,0.71338606911949],"aabb_xy":[[0.2840545730823973,0.9141401982236056],[0.3590545729699301,0.9307263782932788]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.6850217340290314,-0.9249731567931336,0.71338606911949],"aabb_xy":[[0.6563724016686152,-0.9536187160702094],[0.7136710663894477,-0.8963275975160578]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_21","position":[0.399794768054607,1.7671398515028742,0.71338606911949],"aabb_xy":[[0.39209157738053,1.759430480804136],[0.4074979587286841,1.7748492222016123]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_22","position":[0.5753214131889441,1.0397580946277478,0.71338606911949],"aabb_xy":[[0.5113214112766018,0.9838469453697376],[0.6393214151012865,1.0956692438857585]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_23","position":[0.37878298325354076,-1.784442147608917,0.71338606911949],"aabb_xy":[[0.3288041747432249,-1.8344421476146355],[0.42876179176385665,-1.734442147603198]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_24","position":[0.684951008635337,-1.683655491810556,0.71338606911949],"aabb_xy":[[0.67683735396196,-1.6917613082645848],[0.6930646633087142,-1.6755496753565267]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_25","position":[0.21748511217044353,-1.367247509460149,0.71338606911949],"aabb_xy":[[0.15748511157442738,-1.4220599820053728],[0.2774851127664597,-1.3124350369149258]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_26","position":[-0.028572142360795194,0.9360338964665553,0.71338606911949],"aabb_xy":[[-0.08857214400371705,0.8840337471746111],[0.03142785928212666,0.9880340457584995]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_27","position":[-0.6210381068459329,-0.1964667607436148,0.71338606911949],"aabb_xy":[[-0.6860381054030057,-0.22621929415749742],[-0.55603810828886,-0.16671422732973218]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_28","position":[-0.5891227547747252,-1.934016835159988,0.71338606911949],"aabb_xy":[[-0.5971167433524286,-1.942016915255078],[-0.5811287661970218,-1.9260167550648972]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_29","position":[-0.11620437432236919,-2.4433699585059214,0.71338606911949],"aabb_xy":[[-0.1271101504099319,-2.52336995490475],[-0.10529859823480647,-2.363369962107092]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_30","position":[-0.5436669162525836,-0.3900929020534494,0.71338606911949],"aabb_xy":[[-0.6036669165039847,-0.44437422708991403],[-0.4836669160011824,-0.3358115770169847]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_31","position":[0.0732509529129094,-0.8681725350584493,0.71338606911949],"aabb_xy":[[0.05891652778674594,-0.880232750612988],[0.08758537803907285,-0.8561123195039103]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_32","position":[-0.25706612307496884,-0.3142230096818608,0.71338606911949],"aabb_xy":[[-0.30706095600291045,-0.3642230085771044],[-0.20707129014702724,-0.2642230107866173]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6859196239605448,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4407.png","name":"4407"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6320.png","name":"6320"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2922.png","name":"2922"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8543.png","name":"8543"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":771.6824560095057,"rotation_z_degrees":344.9903709811467,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008115071955734954,0.005687672126443711,-0.0035101503403455643]},{"name":"camera_2","offset_m":[0.00907439941363691,0.014194207103728717,-0.016344711022681785]},{"name":"camera_3","offset_m":[-0.004013217407651898,-0.014111836965647405,0.0069167282364703715]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005646816505718078,-0.0018784800088946598,0.00040033681336618413],"end_effector_yaw_offset_degrees":-0.12298577115670573},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0019464778404822934,0.00019684961149758588,-0.0009604963268482806],"end_effector_yaw_offset_degrees":0.5968370894740482},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001735397661349233,0.00022855071075912484,0.00033981448035979005],"end_effector_yaw_offset_degrees":0.43350507916730585},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003756330848624816,0.0008148446293133448,0.0010625346477030786],"end_effector_yaw_offset_degrees":-0.2903111817891222},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002832429864752385,0.0013633863468433486,-0.001409160419848475],"end_effector_yaw_offset_degrees":-0.5615232561251489},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011161567220039693,0.00027401509334650355,0.0004328828636072854],"end_effector_yaw_offset_degrees":-0.4039995801671168}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008930814954973441,-0.0006300678701095718],"position_m":[0.13960691850450266,0.2340699321298904,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026225250164054813,0.0011452211754663412],"position_m":[0.21097747498359454,-0.05255477882453366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001245602028668935,0.0032270892042529356],"position_m":[0.24785439797133105,-0.3801729107957471,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003515164702321545,-4.620663660300818e-05],"position_m":[0.3500848352976785,0.11715379336339699,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5e669778b0d757cec2d3d77e1476c119860f792ebafc91edc3f1387e775db50b","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0080.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_4407/tex_ceiling_textures_8543/tex_floor_textures_2922/tex_table_textures_6320/tex_wall_textures_2004","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":820307031513947526,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":820307031513947526,"visual_seed":820307031513947526,"scene_id":"lab_003","finished_at":"2026-09-06T16:33:00"} +{"episode_id":"ep_000079","started_at":"2026-09-06T16:33:06","dimensions":{"distractor":{"count":22,"items":[{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_0","position":[0.6952763481502016,-1.9664500813209729,0.71338606911949],"aabb_xy":[[0.6702763485984631,-1.9765925651861078],[0.72027634770194,-1.9563075974558384]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_1","position":[-0.3334853097042222,-0.5288589573066456,0.71338606911949],"aabb_xy":[[-0.3974810070993188,-0.5928589556073541],[-0.2694896123091256,-0.46485895900593677]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_2","position":[0.11878488792010933,-2.3602680397068725,0.71338606911949],"aabb_xy":[[0.105338361286066,-2.373737891359964],[0.13223141455415266,-2.346798188053781]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_3","position":[-0.4163972215118103,-2.3899781467993586,0.71338606911949],"aabb_xy":[[-0.44139722144432814,-2.3968608150202817],[-0.39139722157929235,-2.3830954785784355]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[-0.07319018266167021,-0.7193415364175735,0.71338606911949],"aabb_xy":[[-0.11069018247870376,-0.7239797477287153],[-0.03569018284463664,-0.7147033251064316]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.25135403523293687,0.443712539907406,0.71338606911949],"aabb_xy":[[-0.3363540336503601,0.3588382444451211],[-0.16635403681551364,0.528586835369691]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_6","position":[0.602194193989646,0.9744990562125939,0.71338606911949],"aabb_xy":[[0.5472019433541352,0.9194990544692813],[0.6571864446251571,1.0294990579559067]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[-0.4333714154385138,0.3646539301341951,0.71338606911949],"aabb_xy":[[-0.455885107261971,0.2946539295331876],[-0.4108577236150566,0.43465393073520264]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.574038551937177,0.04864162735959088,0.71338606911949],"aabb_xy":[[-0.638038553986909,0.008547144270282914],[-0.510038549887445,0.08873611044889884]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_9","position":[0.5824874016260213,-0.9838433990733337,0.71338606911949],"aabb_xy":[[0.5184874013655505,-1.0288521984262617],[0.6464874018864921,-0.9388345997204057]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.22125430566414306,1.2965587254364634,0.71338606911949],"aabb_xy":[[0.1762543041979142,1.251558868574983],[0.2662543071303719,1.3415585822979443]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[-0.5761074907427923,-1.9732655551892269,0.71338606911949],"aabb_xy":[[-0.6259242702076271,-2.0232655536735304],[-0.5262907112779576,-1.9232655567049235]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_12","position":[0.5098754022192007,-2.089098649481231,0.71338606911949],"aabb_xy":[[0.45989116651102346,-2.1390986482947265],[0.5598596379273779,-2.0390986506677353]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_13","position":[-0.2642208066299262,-1.8394520017064346,0.71338606911949],"aabb_xy":[[-0.29536772547350926,-1.9094520003932416],[-0.23307388778634303,-1.7694520030196272]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.41065956010975846,-0.4104199833483766,0.71338606911949],"aabb_xy":[[-0.44815956162539017,-0.4216467563645216],[-0.37315955859412675,-0.3991932103322315]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_15","position":[-0.5413639278526846,-0.3078730665650684,0.71338606911949],"aabb_xy":[[-0.5452778010481072,-0.3166220819716251],[-0.537450054657262,-0.2991240511585116]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.09980490034161493,-1.436189847388951,0.71338606911949],"aabb_xy":[[-0.11735159525773385,-1.4736898489532022],[-0.08225820542549599,-1.3986898458246997]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_17","position":[-0.3676822723977647,1.2947529024605569,0.71338606911949],"aabb_xy":[[-0.3785338786466403,1.2838936117329058],[-0.3568306661488891,1.3056121931882079]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_18","position":[-0.6093593569547374,1.2163128207639686,0.71338606911949],"aabb_xy":[[-0.6693593575507537,1.161500348218745],[-0.5493593563587214,1.2711252933091919]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_19","position":[0.2067350684399637,1.0565525531908353,0.71338606911949],"aabb_xy":[[0.18173506916800145,1.040207189594673],[0.231735067711926,1.0728979167869976]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_20","position":[0.16162928160127132,-1.785503498490296,0.71338606911949],"aabb_xy":[[0.1535156269278942,-1.793609314944325],[0.1697429362746484,-1.777397682036267]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_21","position":[-0.3207971430820006,0.16585391725587328,0.71338606911949],"aabb_xy":[[-0.3702775642959594,0.10185391934302146],[-0.27131672186804184,0.2298539151687251]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6900465470541258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1557.png","name":"1557"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4024.png","name":"4024"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3176.png","name":"3176"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":832.8323394755182,"rotation_z_degrees":201.39268153585218,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011167777478210149,0.01651401437967975,-0.015033477314802871]},{"name":"camera_2","offset_m":[-0.01179695432642366,0.004095779234279968,-0.0042215103690811245]},{"name":"camera_3","offset_m":[0.01603974351270133,-0.0052999028446460185,-0.002566356225666814]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019433626706633555,-0.0014271026075827376,0.0018657447198663895],"end_effector_yaw_offset_degrees":0.35293227417208195},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0009998347246634842,-0.0015765203601373723,-0.0012953858637291332],"end_effector_yaw_offset_degrees":0.984431400241141},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0014169793569772048,0.0007201895768249576,-0.0004244850871164907],"end_effector_yaw_offset_degrees":-0.729088928583101},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008510629685937604,-0.0015436001685651167,0.0010662651179887779],"end_effector_yaw_offset_degrees":0.28114358185270216},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017419683851025228,0.0017438065954583446,-0.0010217229456186256],"end_effector_yaw_offset_degrees":-0.6545167829896399},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012979390233996083,0.0007815708222149737,0.0016642327017929387],"end_effector_yaw_offset_degrees":-0.061671162249969935}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015018244500064558,-0.003917112302296055],"position_m":[0.13899817554999355,0.23078288769770394,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0020020004541296587,0.0032825722429372243],"position_m":[0.21159799954587036,-0.050417427757062774,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003680643373461829,0.003188601777010706],"position_m":[0.25278064337346184,-0.3802113982229893,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0023804471399302444,0.0028227846334367207],"position_m":[0.35598044713993027,0.12002278463343671,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27b8c0018f64d28de4eef9f2110e07d63ec8927f648a6b70ee92a00db6bd69a9","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0081.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_7494/tex_ceiling_textures_3176/tex_floor_textures_3682/tex_table_textures_1557/tex_wall_textures_4024","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8287540577533544059,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8287540577533544059,"visual_seed":8287540577533544059,"scene_id":"lab_003","finished_at":"2026-09-06T16:38:58"} +{"episode_id":"ep_000080","started_at":"2026-09-06T16:39:03","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[-0.2765176455078261,-2.4635925653558735,0.71338606911949],"aabb_xy":[[-0.30516697786824226,-2.492238124632949],[-0.2478683131474098,-2.434947006078797]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[0.3448305099688165,-0.7139898694185931,0.71338606911949],"aabb_xy":[[0.28083051357324335,-0.7779531578373267],[0.4088305063643895,-0.6500265809998595]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[-0.4679468384406985,-2.5694722883621326,0.71338606911949],"aabb_xy":[[-0.4904468382546009,-2.573946904732613],[-0.4454468386267961,-2.564997671991652]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_3","position":[0.18623002901534258,-0.5988097168916344,0.71338606911949],"aabb_xy":[[0.16432134687599154,-0.6207103837117252],[0.20813871115469362,-0.5769090500715437]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.63196825847481,-1.7401824563948836,0.71338606911949],"aabb_xy":[[-0.6480301859333275,-1.8251824582074754],[-0.6159063310162922,-1.6551824545822917]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_5","position":[0.015287459858585484,-1.3123950296806055,0.71338606911949],"aabb_xy":[[-0.007208961575278618,-1.334895029487353],[0.037783881292449584,-1.289895029873858]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.5300018670448932,-0.10936244408272788,0.71338606911949],"aabb_xy":[[-0.5675018654682934,-0.1225266580505585],[-0.4925018686214927,-0.09619823011489724]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.1985603994233126,-0.4731704749745411,0.71338606911949],"aabb_xy":[[-0.20790740700560784,-0.4874740971921852],[-0.18921339184101738,-0.45886685275689715]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[0.4199759448967795,-1.989071278597809,0.71338606911949],"aabb_xy":[[0.4120526646580312,-2.011571278835812],[0.42789922513552786,-1.966571278359806]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_9","position":[0.5321925551185047,-1.022418326974707,0.71338606911949],"aabb_xy":[[0.5247800995771161,-1.0282695373963346],[0.5396050106598931,-1.0165671165530787]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.4942630618695326,-2.0132331903630574,0.71338606911949],"aabb_xy":[[-0.5298922177694925,-2.0488658571199103],[-0.45863390596957293,-1.9776005236062044]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_11","position":[-0.395171406614758,1.2956247277623967,0.71338606911949],"aabb_xy":[[-0.43267140779955077,1.291206505066336],[-0.3576714054299652,1.300042950458457]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_12","position":[-0.2992985325193252,0.322929231563577,0.71338606911949],"aabb_xy":[[-0.38898560882744065,0.2329292313091264],[-0.20961145621120975,0.4129292318180275]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[0.6378465346182363,-2.2822476368901987,0.71338606911949],"aabb_xy":[[0.5578465324554737,-2.3622028205163423],[0.7178465367809986,-2.202292453264055]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.15684162329039164,-1.7104508269031227,0.71338606911949],"aabb_xy":[[-0.16075549648581414,-1.7191998423096795],[-0.1529277500949691,-1.7017018114965659]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[-0.026613663853822578,0.9815271042875073,0.71338606911949],"aabb_xy":[[-0.06161366212394248,0.974452976592519],[0.008386334416297325,0.9886012319824953]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.28283164389520055,0.9562235547034188,0.71338606911949],"aabb_xy":[[-0.29529900200493625,0.9437582300700954],[-0.27036428578546495,0.9686888793367424]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_17","position":[0.5506758617765635,-0.7249834930768126,0.71338606911949],"aabb_xy":[[0.5156758626466078,-0.7307287141524768],[0.5856758609065191,-0.7192382720011485]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_18","position":[0.6954801616792665,-1.4898006289652486,0.71338606911949],"aabb_xy":[[0.6823289157079773,-1.5148006287219353],[0.708631407650556,-1.464800629208562]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_19","position":[0.3048904417950796,-2.1171556161864262,0.71338606911949],"aabb_xy":[[0.2673904415029048,-2.1211970915870295],[0.34239044208725444,-2.113114140785822]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_20","position":[0.18723987143595344,1.6931319046030064,0.71338606911949],"aabb_xy":[[0.10223987301853021,1.6082576091407215],[0.27223986985337667,1.7780062000652914]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_21","position":[-0.5146537940158776,-0.8437655725386444,0.71338606911949],"aabb_xy":[[-0.5946537972737206,-0.9237620803306285],[-0.4346537907580347,-0.7637690647466605]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6857643702863265,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6838.png","name":"6838"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/327.png","name":"327"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3636.png","name":"3636"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1000.png","name":"1000"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3726.png","name":"3726"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":661.1571182949679,"rotation_z_degrees":261.6111423341145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0032341266546473645,0.005355493585017353,0.016673198238249653]},{"name":"camera_2","offset_m":[0.01033678929629223,0.015910663555007847,0.00282200454524029]},{"name":"camera_3","offset_m":[0.008757617242291082,0.01564050876389542,0.0008252795062401001]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011792753200459438,-0.0005491443565046042,0.0013437594340039256],"end_effector_yaw_offset_degrees":0.4934786737423369},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00042979522578365627,-0.0003367075409831219,6.696686451719645e-05],"end_effector_yaw_offset_degrees":0.6232201973450038},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00029247072873507226,-0.0010060001931343602,0.0013895135761952094],"end_effector_yaw_offset_degrees":0.7616473603527418},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004064386949709812,-0.001635354200099517,-0.00023361740293886195],"end_effector_yaw_offset_degrees":0.24172554834414162},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016006091738440427,0.0005388632805927865,0.001583775584913242],"end_effector_yaw_offset_degrees":-0.9267192135313818},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016781573142450202,-4.3130989520470935e-05,0.001901334865960246],"end_effector_yaw_offset_degrees":0.664652400332963}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004791867079057295,0.0007140445955831527],"position_m":[0.1452918670790573,0.23541404459558316,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004157460910740396,-0.0007786090551039852],"position_m":[0.21401574609107404,-0.05447860905510398,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017545841272923104,0.0027434731115546793],"position_m":[0.24734541587270767,-0.3806565268884453,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001775775435157916,0.002397806441242564],"position_m":[0.3553757754351579,0.11959780644124256,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b9fe3e4f3452cd085b9302bf2657360dafa5a6a6ca2ec74884732ef587b1774f","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0082.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6838/tex_ceiling_textures_3726/tex_floor_textures_1000/tex_table_textures_327/tex_wall_textures_3636","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7190767625457939013,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7190767625457939013,"visual_seed":7190767625457939013,"scene_id":"lab_003","finished_at":"2026-09-06T16:45:19"} +{"episode_id":"ep_000081","started_at":"2026-09-06T16:45:24","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_0","position":[0.212461282745824,-1.8009636886087623,0.71338606911949],"aabb_xy":[[0.17746128361586833,-1.8067089096844262],[0.24746128187577965,-1.795218467533098]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.5339727314670513,0.08533965965749957,0.71338606911949],"aabb_xy":[[-0.5698862358920408,0.049426151440744935],[-0.49805922704206146,0.12125316787425418]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_2","position":[0.02888726465810887,-0.8924742630637548,0.71338606911949],"aabb_xy":[[-0.03611273389896397,-0.9222267964776375],[0.0938872632151817,-0.8627217296498723]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_3","position":[0.39314466296229766,1.5832832491550302,0.71338606911949],"aabb_xy":[[0.34314466431637647,1.5333637054955676],[0.44314466160821886,1.6332027928144923]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.24027885528007353,-2.4190135049895156,0.71338606911949],"aabb_xy":[[-0.2522115896419016,-2.431395657797375],[-0.2283461209182455,-2.4066313521816562]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_5","position":[0.48021040187947084,1.3310838773549092,0.71338606911949],"aabb_xy":[[0.4302104002179761,1.2810854350992062],[0.5302104035409656,1.3810823196106117]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[0.41593896988553203,-1.6894062635025575,0.71338606911949],"aabb_xy":[[0.3519389725831856,-1.733772690470414],[0.47993896718787843,-1.6450398365347005]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.5869305897118421,-0.8122883697319894,0.71338606911949],"aabb_xy":[[-0.6669244132904003,-0.892288372324831],[-0.5069367661332839,-0.7322883671391479]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_8","position":[-0.5094635999717377,1.681531607689521,0.71338606911949],"aabb_xy":[[-0.5469636003199654,1.6697402121084373],[-0.47196359962350987,1.6933230032706044]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_9","position":[-0.3155850907753714,-0.17843194597585788,0.71338606911949],"aabb_xy":[[-0.35308509106754615,-0.18247342137646144],[-0.2780850904831965,-0.17439047057525425]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_10","position":[-0.557500703090145,-2.0257680583318143,0.71338606911949],"aabb_xy":[[-0.6215007002022508,-2.0748004281262244],[-0.4935007059780394,-1.9767356885374032]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.4340231182768035,-1.882987225037353,0.71338606911949],"aabb_xy":[[0.41644481608785666,-1.900561714611458],[0.45160142046575036,-1.8654127354632484]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.3564859710076659,1.4049583824051424,0.71338606911949],"aabb_xy":[[-0.39398597111325884,1.3981362205521612],[-0.3189859709020729,1.4117805442581235]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_13","position":[0.2586349235629206,-2.2271124459541296,0.71338606911949],"aabb_xy":[[0.2522211099197356,-2.2335222662017977],[0.2650487372061055,-2.2207026257064606]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.07483073960191622,-1.895744372318918,0.71338606911949],"aabb_xy":[[0.05477232798867593,-1.9158094592280752],[0.09488915121515651,-1.8756792854097604]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[-0.507497841675151,0.7004310096954565,0.71338606911949],"aabb_xy":[[-0.5337866659955917,0.6741595760408052],[-0.4812090173547104,0.7267024433501077]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_16","position":[0.518215712028979,-0.8156760611397145,0.71338606911949],"aabb_xy":[[0.4542157103509816,-0.8641934526190286],[0.5822157137069763,-0.7671586696604001]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.4071029943422755,-2.0838248835143967,0.71338606911949],"aabb_xy":[[0.343102995755703,-2.1308318469139054],[0.47110299292884794,-2.036817920114888]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[-0.523599828942088,1.0771807160561266,0.71338606911949],"aabb_xy":[[-0.5875955263371846,1.0131807177554177],[-0.4596041315469914,1.141180714356835]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_19","position":[0.2360814694275859,1.1354250151262946,0.71338606911949],"aabb_xy":[[0.2321675962321634,1.1266759997197378],[0.23999534262300845,1.1441740305328514]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_20","position":[-0.3421030583408276,-1.473397692828209,0.71338606911949],"aabb_xy":[[-0.3491445092915752,-1.4804244445660037],[-0.33506160739008,-1.4663709410904144]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_21","position":[-0.24652930021588165,1.20011494080671,0.71338606911949],"aabb_xy":[[-0.3365293038927998,1.1386825342296052],[-0.15652929653896344,1.261547347383814]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_22","position":[-0.17040179565627933,0.793178891929184,0.71338606911949],"aabb_xy":[[-0.2007999067554229,0.7627719899275146],[-0.14000368455713572,0.8235857939308536]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_23","position":[0.3717294395648847,-2.406526086303771,0.71338606911949],"aabb_xy":[[0.36370316893425875,-2.415277581281124],[0.37975571019551074,-2.3977745913264186]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_24","position":[0.5388371726322672,-2.509836176059835,0.71338606911949],"aabb_xy":[[0.5163371728183648,-2.5143107924303156],[0.5613371724461695,-2.5053615596893546]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_25","position":[-0.47501337748634465,-0.3083334513466749,0.71338606911949],"aabb_xy":[[-0.49202347477639524,-0.3244679398449488],[-0.45800328019629394,-0.29219896284840097]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_26","position":[0.6217547813725914,-1.566884463046397,0.71338606911949],"aabb_xy":[[0.5577547810986132,-1.616950563243685],[0.6857547816465697,-1.516818362849109]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_27","position":[-0.43095111257715224,-2.5372635491071915,0.71338606911949],"aabb_xy":[[-0.4694968054023532,-2.5758093201633803],[-0.39240541975195115,-2.498717778051003]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_28","position":[0.7018082518671462,0.3406618696661461,0.71338606911949],"aabb_xy":[[0.6874738267409829,0.32860165411160724],[0.7161426769933098,0.35272208522068493]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_29","position":[0.18916192226046746,-1.7328245160148414,0.71338606911949],"aabb_xy":[[0.18035986695149475,-1.7406358421697705],[0.19796397756944017,-1.7250131898599124]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_30","position":[0.5695305774225405,1.0529264646429826,0.71338606911949],"aabb_xy":[[0.499530575291111,1.0301644990172867],[0.6395305795539701,1.075688430268678]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_31","position":[-0.28387761851770105,-1.2450867106912449,0.71338606911949],"aabb_xy":[[-0.3206722516426073,-1.281992585787827],[-0.24708298539279477,-1.2081808355946624]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_32","position":[-0.5650794114953778,1.2814947341311425,0.71338606911949],"aabb_xy":[[-0.650079409912801,1.1966204386688575],[-0.48007941307795454,1.3663690295934274]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_33","position":[-0.25093600201487715,-1.8965007749752734,0.71338606911949],"aabb_xy":[[-0.33093600344500435,-1.9760179299878826],[-0.17093600058474995,-1.8169836199626637]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_34","position":[-0.1768610746910021,-2.1814760578096384,0.71338606911949],"aabb_xy":[[-0.18317317422734053,-2.187242997062857],[-0.17054897515466366,-2.1757091185564197]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883858582672121,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9829.png","name":"9829"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9829.png","name":"9829"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3574.png","name":"3574"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6527.png","name":"6527"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4267.png","name":"4267"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8915.png","name":"8915"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":703.3063706779403,"rotation_z_degrees":54.68223877451704,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017134754721970864,0.00761420118491395,0.014559617586579112]},{"name":"camera_2","offset_m":[0.003908567910844093,0.002849728212565048,0.01805308337581388]},{"name":"camera_3","offset_m":[0.005067794208499385,-0.010133429819648009,-0.0012484806845568103]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015369234802405018,-0.0015005304078809308,0.0019207494246414923],"end_effector_yaw_offset_degrees":0.4084865698252631},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010149829650452705,0.0007373449882376493,0.0016740784152868096],"end_effector_yaw_offset_degrees":-0.8654169006245798},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0001913018306849302,-0.0016953891602755847,0.0004012173482882309],"end_effector_yaw_offset_degrees":-0.6254473735908599},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004127707456857226,0.0016699243891886975,0.0011407376817194241],"end_effector_yaw_offset_degrees":-0.502927503548567},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005717970055009736,-0.0003157429286654585,-0.0005056035173360064],"end_effector_yaw_offset_degrees":0.6866793015195038},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00011543148324384732,0.0016503457553930841,0.001915882066833431],"end_effector_yaw_offset_degrees":0.891295996449833}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0025073573418610065,0.0049663327553891344],"position_m":[0.143007357341861,0.23966633275538912,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029501272226360453,-0.00030147642042539086],"position_m":[0.21064987277736397,-0.05400147642042539,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009736964933557794,-0.0008007190932575077],"position_m":[0.24812630350664422,-0.38420071909325754,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004630904121116685,0.002258122573319167],"position_m":[0.3582309041211167,0.11945812257331917,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b5cb144a1face656a3afcdfa10680f0ca15ed472318fbaf72b2c78ba10a2a776","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0083.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9829/tex_ceiling_textures_8915/tex_floor_textures_4267/tex_table_textures_3574/tex_wall_textures_6527","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1208421791721192932,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1208421791721192932,"visual_seed":1208421791721192932,"scene_id":"lab_003","finished_at":"2026-09-06T16:51:33"} +{"episode_id":"ep_000082","started_at":"2026-09-06T16:51:40","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_0","position":[0.21382619393018598,-1.3725166882104602,0.71338606911949],"aabb_xy":[[0.2065649463597786,-1.3853036984739697],[0.22108744150059342,-1.3597296779469508]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_1","position":[0.5203727130114215,0.1570780894961179,0.71338606911949],"aabb_xy":[[0.4303727135930506,0.12370259265192818],[0.6103727124297924,0.19045358634030762]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_2","position":[-0.02605499189696925,0.7668736090317587,0.71338606911949],"aabb_xy":[[-0.11605499162014342,0.7438002564965789],[0.06394500782620492,0.7899469615669386]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[0.44350154954174537,-1.7993566186231837,0.71338606911949],"aabb_xy":[[0.430270604007064,-1.8125840376451832],[0.4567324950764266,-1.7861291996011843]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_4","position":[0.44067494688096454,-1.425997598721862,0.71338606911949],"aabb_xy":[[0.3606749466073575,-1.4989471465475785],[0.5206749471545714,-1.353048050896145]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.3543928865033412,0.40534372381683204,0.71338606911949],"aabb_xy":[[0.3438254068452422,0.3947986937038235],[0.36496036616144023,0.4158887539298406]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_6","position":[0.438806865057606,1.427359670932716,0.71338606911949],"aabb_xy":[[0.43176655512406914,1.3473596715330447],[0.4458471749911431,1.5073596703323877]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_7","position":[-0.2906059639034555,0.5031899324942102,0.71338606911949],"aabb_xy":[[-0.3506059647642682,0.4517635024877236],[-0.2306059630426426,0.5546163625006963]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[0.00883890084556993,1.3967610156243113,0.71338606911949],"aabb_xy":[[-0.00378788644162642,1.3872149419227382],[0.02146568813276628,1.406307089325884]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_9","position":[0.5873832166856583,0.37655453242865855,0.71338606911949],"aabb_xy":[[0.5832672665735855,0.37243897739581305],[0.5914991667977308,0.38067008746150405]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_10","position":[-0.6317473822765937,-1.8170745126596666,0.71338606911949],"aabb_xy":[[-0.6487574795666442,-1.8332090011579403],[-0.6147372849865429,-1.8009400241613924]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_11","position":[0.0795462835999955,-1.260733176056623,0.71338606911949],"aabb_xy":[[0.03426766871884622,-1.3247331754048066],[0.12482489848114474,-1.1967331767084393]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[0.3979454381422114,1.6239735557793122,0.71338606911949],"aabb_xy":[[0.3429717161058785,1.568973556215079],[0.4529191601785443,1.6789735553435454]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[0.5476990659066545,1.125753190254391,0.71338606911949],"aabb_xy":[[0.5238628482660495,1.0357531894459047],[0.5715352835472596,1.2157531910628776]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_14","position":[0.6028912269773596,-2.1996158018371723,0.71338606911949],"aabb_xy":[[0.5826069242539607,-2.219898426979881],[0.6231755297007582,-2.179333176694463]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_15","position":[0.5905498590749974,-0.6247094422556201,0.71338606911949],"aabb_xy":[[0.5570706918139564,-0.6581885556267272],[0.6240290263360383,-0.5912303288845132]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.05088757852172876,-2.0403526793961997,0.71338606911949],"aabb_xy":[[0.034210442528633256,-2.05705260337013],[0.06756471451482426,-2.0236527554222694]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_17","position":[-0.5978085133946721,0.28371659203379274,0.71338606911949],"aabb_xy":[[-0.6778085104089201,0.26358204036038146],[-0.5178085163804241,0.303851143707204]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.3121570823714492,-1.535355611634446,0.71338606911949],"aabb_xy":[[-0.3921570834445695,-1.5451336579718304],[-0.23215708129832885,-1.5255775652970616]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_19","position":[-0.4258712872099963,1.1974474764529854,0.71338606911949],"aabb_xy":[[-0.43780402157182435,1.185065323645126],[-0.4139385528481682,1.2098296292608448]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_20","position":[-0.05887284291539818,0.3072156002133286,0.71338606911949],"aabb_xy":[[-0.09637284370739363,0.30084775925513846],[-0.02137284212340273,0.31358344117151865]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_21","position":[0.18145154324585988,-2.507516923307246,0.71338606911949],"aabb_xy":[[0.14686046039181466,-2.5725169235922762],[0.2160426260999051,-2.442516923022214]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_22","position":[0.4080846823375339,-1.651181207770147,0.71338606911949],"aabb_xy":[[0.39651570159059735,-1.676181207887079],[0.4196536630844705,-1.6261812076532156]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_23","position":[0.05669740351765662,-1.721021912020344,0.71338606911949],"aabb_xy":[[0.006697403157090553,-1.771001899229947],[0.10669740387822267,-1.671041924810741]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[-0.5458067311797842,0.09920451391133334,0.71338606911949],"aabb_xy":[[-0.5582740892895199,0.08673918927800985],[-0.5333393730700486,0.11166983854465685]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_25","position":[0.07326356407977874,-0.9261146607124517,0.71338606911949],"aabb_xy":[[0.023263563060643467,-0.9625808764502797],[0.12326356509891402,-0.8896484449746238]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_26","position":[-0.5198666433469812,-0.8436601371541594,0.71338606911949],"aabb_xy":[[-0.5898666454784106,-0.866422102779855],[-0.44986664121555153,-0.8208981715284637]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_27","position":[-0.28814982203867356,-2.2889397123269823,0.71338606911949],"aabb_xy":[[-0.3521498227421429,-2.3349580947999033],[-0.22414982133520422,-2.2429213298540613]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_28","position":[-0.3797274543863192,1.0861802002801615,0.71338606911949],"aabb_xy":[[-0.43472745400806506,1.0311965074926888],[-0.3247274547645734,1.1411638930676342]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[-0.4651906743734614,-1.1600093598955663,0.71338606911949],"aabb_xy":[[-0.47604228062233706,-1.1708686506232173],[-0.45433906812458585,-1.1491500691679153]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_30","position":[-0.5001126758907741,0.5373761621179147,0.71338606911949],"aabb_xy":[[-0.5073564419370195,0.45737616391431235],[-0.4928689098445288,0.6173761603215171]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_31","position":[0.33351068945672613,0.9483107637319241,0.71338606911949],"aabb_xy":[[0.32558740921797785,0.9258107634939208],[0.3414339696954745,0.9708107639699275]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.692452378644481,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/635.png","name":"635"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/635.png","name":"635"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1147.png","name":"1147"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1848.png","name":"1848"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2023.png","name":"2023"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7866.png","name":"7866"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":634.5105595785172,"rotation_z_degrees":185.38692200628418,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013534040988726726,-0.018752106078338236,-0.009306008136328895]},{"name":"camera_2","offset_m":[-0.001759101057563349,-0.01328569424335365,0.01222024900720477]},{"name":"camera_3","offset_m":[0.013922408155156347,-0.014491881801842795,-0.015790214836676364]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0017263563226764382,-0.0008733432787480875,-0.0011809154910630065],"end_effector_yaw_offset_degrees":0.3211307055275814},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0016566308019135682,-0.00023216966318500014,0.000659127078849671],"end_effector_yaw_offset_degrees":-0.06348205400690388},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016725775579621792,0.0013108619810618758,0.0005165736825416319],"end_effector_yaw_offset_degrees":0.24969684159284422},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007595167363350138,-0.0006557794442286159,-0.0015782165904623135],"end_effector_yaw_offset_degrees":-0.2633700577154645},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014009438332510294,0.0014431456006821636,0.0006184181610813578],"end_effector_yaw_offset_degrees":-0.8818554759098982},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007856678252532454,-0.0016431611133211085,-0.0016306363325343282],"end_effector_yaw_offset_degrees":0.8274447842389163}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0030966062547997776,-0.0016895750588257854],"position_m":[0.13740339374520025,0.23301042494117422,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024504511131958825,-0.0034228069714898344],"position_m":[0.2160504511131959,-0.05712280697148983,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0032521285628449538,-0.0018012741827488298],"position_m":[0.25235212856284495,-0.38520127418274885,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[1.6371138891281556e-05,-0.0042216625662997945],"position_m":[0.35361637113889133,0.1129783374337002,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7f4726d572c1d83663f88368aed0488e712bce1e1a87d1fec35a7c257c723410","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0084.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_635/tex_ceiling_textures_7866/tex_floor_textures_2023/tex_table_textures_1147/tex_wall_textures_1848","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8013279342495487164,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8013279342495487164,"visual_seed":8013279342495487164,"scene_id":"lab_003","finished_at":"2026-09-06T16:57:23"} +{"episode_id":"ep_000083","started_at":"2026-09-06T16:57:28","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_0","position":[0.5811091963947665,-2.369507024142279,0.71338606911949],"aabb_xy":[[0.5776685201547094,-2.3733684571166433],[0.5845498726348237,-2.3656455911679144]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[-0.20804280913462136,-0.6122775227482204,0.71338606911949],"aabb_xy":[[-0.2455428094828491,-0.6240689183293038],[-0.17054280878639358,-0.6004861271671367]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_2","position":[0.595273242975521,0.08496430074470718,0.71338606911949],"aabb_xy":[[0.5312732456731746,0.04059787377685041],[0.6592732402778674,0.12933072771256393]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_3","position":[-0.46252295264348786,1.2979136776187499,0.71338606911949],"aabb_xy":[[-0.4679808982805078,1.2179136743110905],[-0.4570650070064677,1.3779136809264088]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_4","position":[0.10308522104497875,-0.9092422573126149,0.71338606911949],"aabb_xy":[[0.02309139746642054,-0.9892422599054566],[0.18307904462353697,-0.8292422547197734]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_5","position":[-0.23407500811626697,0.4611377945901034,0.71338606911949],"aabb_xy":[[-0.2980707055113635,0.3971377962893947],[-0.17007931072117036,0.5251377928908121]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_6","position":[-0.5652670301651935,0.4580075643164627,0.71338606911949],"aabb_xy":[[-0.6151497270428897,0.4080075650701881],[-0.5153843332874973,0.5080075635627376]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_7","position":[0.17582090559927177,1.2696946474616646,0.71338606911949],"aabb_xy":[[0.15332090558912348,1.255598427822061],[0.19832090560942006,1.2837908671012677]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_8","position":[0.5083190151497052,0.4714644730397959,0.71338606911949],"aabb_xy":[[0.44331901251191175,0.4199848743403489],[0.5733190177874987,0.5229440717392428]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.6063256114589922,-0.7379919324966648,0.71338606911949],"aabb_xy":[[-0.6763256140955786,-0.7580967974925303],[-0.5363256088224059,-0.7178870675007993]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_10","position":[0.34289671729196036,-2.4039328657827426,0.71338606911949],"aabb_xy":[[0.2788967150715533,-2.448305949908031],[0.40689671951236733,-2.3595597816574543]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_11","position":[0.5646233896433881,-1.3690546078326549,0.71338606911949],"aabb_xy":[[0.49462338751195845,-1.3918165734583503],[0.6346233917748175,-1.346292642206959]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_12","position":[0.22419488160943823,-1.9414293688608049,0.71338606911949],"aabb_xy":[[0.1866948809448595,-1.9571164268610266],[0.2616948822740169,-1.9257423108605822]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_13","position":[0.3034063099448705,-0.5103498655680503,0.71338606911949],"aabb_xy":[[0.2659063097729985,-0.5430506009509574],[0.3409063101167424,-0.477649130185143]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_14","position":[-0.1601170829206,-1.3175726778288894,0.71338606911949],"aabb_xy":[[-0.22511708295490274,-1.3642733545092167],[-0.09511708288629728,-1.2708720011485621]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_15","position":[-0.5686174337740131,0.7171864911106409,0.71338606911949],"aabb_xy":[[-0.6326174370637212,0.6738515721067233],[-0.504617430484305,0.7605214101145585]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_16","position":[-0.2390414707939682,-1.941370183597076,0.71338606911949],"aabb_xy":[[-0.29904147130182107,-1.9982169172829973],[-0.17904147028611525,-1.8845234499111547]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_17","position":[0.09818208993371647,-2.227082532127845,0.71338606911949],"aabb_xy":[[0.018182091346397044,-2.3063981340660056],[0.1781820885210359,-2.147766930189684]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_18","position":[-0.18335607843475243,-0.380791622819562,0.71338606911949],"aabb_xy":[[-0.1959587775718289,-0.3933870190444276],[-0.17075337929767598,-0.3681962265946966]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_19","position":[-0.15766318557929315,1.6313688670020814,0.71338606911949],"aabb_xy":[[-0.2074799650441279,1.5813688685177778],[-0.10784640611445839,1.6813688654863845]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_20","position":[-0.5334397856911826,-1.923501630152531,0.71338606911949],"aabb_xy":[[-0.6234397893681005,-1.9849340367296349],[-0.44343978201426415,-1.8620692235754261]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_21","position":[-0.6252962581276865,-1.1424034339736833,0.71338606911949],"aabb_xy":[[-0.6892962600400289,-1.1983145832316937],[-0.5612962562153442,-1.0864922847156728]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.4811455757587999,0.9216632659778483,0.71338606911949],"aabb_xy":[[0.45822986287375006,0.8987589688414249],[0.5040612886438498,0.9445675631142719]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_23","position":[-0.41331036691618317,-2.3177183507727963,0.71338606911949],"aabb_xy":[[-0.5033103692502022,-2.395200705357909],[-0.3233103645821641,-2.2402359961876837]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_24","position":[0.6967276227579231,1.7518788816871411,0.71338606911949],"aabb_xy":[[0.6928137495625006,1.743129866280584],[0.7006414959533456,1.7606278970936977]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.5896715498672407,-1.5180197952541374,0.71338606911949],"aabb_xy":[[0.5727608174308988,-1.5314920008467516],[0.6065822823035824,-1.5045475896615224]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_26","position":[-0.6299115538732798,-2.3029483744962707,0.71338606911949],"aabb_xy":[[-0.6524079753071439,-2.3254483743030185],[-0.6074151324394157,-2.2804483746895237]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_27","position":[0.4837396956265567,1.039192335773084,0.71338606911949],"aabb_xy":[[0.4791045804743233,1.035325000695935],[0.48837481077879,1.0430596708502324]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_28","position":[0.2697924061512267,-1.4631768027603913,0.71338606911949],"aabb_xy":[[0.18607018065114417,-1.5531768062950873],[0.3535146316513091,-1.3731767992256954]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[0.23589878571007272,1.3906203544786626,0.71338606911949],"aabb_xy":[[0.19940296508279395,1.3541364120519048],[0.27239460633735146,1.42710429690542]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_30","position":[-0.3249563780907139,-0.28111030307078,0.71338606911949],"aabb_xy":[[-0.4099563767827885,-0.31309616646565885],[-0.23995637939863923,-0.24912443967590114]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_31","position":[-0.02963212640794921,1.1298725282531485,0.71338606911949],"aabb_xy":[[-0.07181654056877995,1.0658725279759373],[0.01255228775288153,1.1938725285303597]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_32","position":[0.032213096304019806,1.3244033632500338,0.71338606911949],"aabb_xy":[[-0.03178690080808588,1.2753709934556232],[0.0962130934161255,1.3734357330444444]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_33","position":[0.11887548181772856,1.0876804221346301,0.71338606911949],"aabb_xy":[[0.06387548264113906,1.0326907473596723],[0.17387548099431804,1.1426700969095875]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6858926700853754,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5374.png","name":"5374"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/345.png","name":"345"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1022.png","name":"1022"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2857.png","name":"2857"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9580.png","name":"9580"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":769.6887224849063,"rotation_z_degrees":262.7823897858391,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004925524052545115,-0.0015006219512935827,-0.004163307013451717]},{"name":"camera_2","offset_m":[0.008164853129771572,-0.01737137254616797,0.006210296161505521]},{"name":"camera_3","offset_m":[-0.018929804731296383,-0.012420100426762701,0.009088910593374057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.199553118713019e-05,-0.0009794700457510066,-0.00036875200096665056],"end_effector_yaw_offset_degrees":0.3033157571323788},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00018329602724818147,-0.0004248224431867623,0.00017439737971541944],"end_effector_yaw_offset_degrees":0.1725473332066889},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001828612621103618,-0.0015972801656973523,-0.001961114573516479],"end_effector_yaw_offset_degrees":0.403033378951523},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001651539347158252,-0.0010542417948735184,7.61151323102607e-05],"end_effector_yaw_offset_degrees":0.8367877702293829},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015065364835448215,0.00035346982617886526,0.0019588346500848484],"end_effector_yaw_offset_degrees":0.6024590698777581},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011809122304611468,0.00025787351252342175,0.001994481375198081],"end_effector_yaw_offset_degrees":-0.7960890999139965}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002491631031413079,-0.00033286985528381465],"position_m":[0.1429916310314131,0.2343671301447162,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004881001103763797,0.004852261793445633],"position_m":[0.2087189988962362,-0.048847738206554366,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0037093752381451815,-0.00039886502117872456],"position_m":[0.2453906247618548,-0.38379886502117877,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018931354837417613,-0.003130128321817998],"position_m":[0.35170686451625827,0.114069871678182,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a9425a5df096b0efa00ee1e46c1ad8cf430dad7a5017e43590afad8cd0dfb93f","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0085.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_5374/tex_ceiling_textures_9580/tex_floor_textures_2857/tex_table_textures_345/tex_wall_textures_1022","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":203956786797366039,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":203956786797366039,"visual_seed":203956786797366039,"scene_id":"lab_003","finished_at":"2026-09-06T17:03:49"} +{"episode_id":"ep_000084","started_at":"2026-09-06T17:03:54","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[0.6343151000892906,-1.8869577287069377,0.71338606911949],"aabb_xy":[[0.6168151009549234,-1.8968373557445253],[0.6518150992236578,-1.8770781016693496]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[-0.3876345027924124,-1.5457251966757086,0.71338606911949],"aabb_xy":[[-0.3956708374936972,-1.553763315980125],[-0.3795981680911275,-1.5376870773712914]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.47354473758066185,-0.21987128233646347,0.71338606911949],"aabb_xy":[[0.44108303669873433,-0.25000411445136606],[0.5060064384625892,-0.18973845022156083]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_3","position":[0.5948063250830131,-0.5548604148794065,0.71338606911949],"aabb_xy":[[0.5771734894894855,-0.5724833608950294],[0.6124391606765407,-0.5372374688637834]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[-0.23373006597051282,0.7822080100980457,0.71338606911949],"aabb_xy":[[-0.25140569655911116,0.7645277938186429],[-0.21605443538191452,0.7998882263774484]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_5","position":[0.10143811759599553,-0.6646484221490723,0.71338606911949],"aabb_xy":[[0.0941943515497502,-0.7446484203526746],[0.10868188364224085,-0.5846484239454699]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_6","position":[-0.2633261028846512,1.4223898960242463,0.71338606911949],"aabb_xy":[[-0.3104554818864868,1.358389894979844],[-0.21619672388281547,1.486389897068648]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_7","position":[-0.30641490898359225,1.2158418982320383,0.71338606911949],"aabb_xy":[[-0.3117524846495968,1.1908418973028985],[-0.3010773333175877,1.240841899161178]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_8","position":[0.6089500394413663,0.9201569925175668,0.71338606911949],"aabb_xy":[[0.5970173050795381,0.9077748397097074],[0.6208827738031942,0.9325391453254261]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_9","position":[0.1623673405832312,0.9402827625677528,0.71338606911949],"aabb_xy":[[0.13986820485700424,0.9177827617894897],[0.18486647630945818,0.9627827633460156]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_10","position":[-0.4736139973788821,1.1821335332078404,0.71338606911949],"aabb_xy":[[-0.543614000770444,1.1468177595044096],[-0.4036139939873201,1.2174493069112713]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_11","position":[0.5782404060485407,1.3161477969196076,0.71338606911949],"aabb_xy":[[0.48824040954766884,1.2702361545011491],[0.6682404025494123,1.3620594393380656]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_12","position":[0.2782520349975003,1.7105153434563687,0.71338606911949],"aabb_xy":[[0.22827896946498488,1.660515343643836],[0.3282251005300158,1.7605153432689018]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.34885059031803173,-1.3459290394466177,0.71338606911949],"aabb_xy":[[-0.4388505870536419,-1.399112502763912],[-0.25885059358242146,-1.292745576129323]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[0.5252021413960934,-1.4515431048527978,0.71338606911949],"aabb_xy":[[0.49142658220540036,-1.465581600065963],[0.5589777005867863,-1.4375046096396327]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_15","position":[-0.2537824176520994,0.555183261647505,0.71338606911949],"aabb_xy":[[-0.26842582320613234,0.5405245419907208],[-0.23913901209806637,0.5698419813042892]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_16","position":[-0.5016955720415448,0.047361557165429335,0.71338606911949],"aabb_xy":[[-0.5089778884182082,-0.04263844644407965],[-0.494413255664881,0.1373615607749383]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_17","position":[-0.3593722917937176,-1.8189868405500473,0.71338606911949],"aabb_xy":[[-0.376872225227701,-1.8364868404702814],[-0.34187235835973423,-1.8014868406298123]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.5446291632989837,-1.1514946324898752,0.71338606911949],"aabb_xy":[[-0.6296291617164069,-1.23636892795216],[-0.45962916488156047,-1.06662033702759]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[-0.3204294017721264,1.746431795108497,0.71338606911949],"aabb_xy":[[-0.3429258232059905,1.7239317953017497],[-0.2979329803382623,1.7689317949152445]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.6331103654846435,-0.9288725370085349,0.71338606911949],"aabb_xy":[[0.616433229491548,-0.9455724609824652],[0.649787501477739,-0.9121726130346046]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_21","position":[0.4008805854089763,-0.8874419363847055,0.71338606911949],"aabb_xy":[[0.3921666163590417,-0.9099419370438935],[0.4095945544589107,-0.864941935725517]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[-0.5316232547712749,-2.3961433972960937,0.71338606911949],"aabb_xy":[[-0.5816232542114705,-2.4461113217804096],[-0.4816232553310793,-2.346175472811777]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_23","position":[0.518725225265549,0.6180937277123641,0.71338606911949],"aabb_xy":[[0.47372522379932025,0.5730938708508835],[0.5637252267317779,0.6630935845738448]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_24","position":[-0.2609029929574669,-0.8916360392735245,0.71338606911949],"aabb_xy":[[-0.29204991180105,-0.9616360379603316],[-0.22975607411388377,-0.8216360405867172]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_25","position":[-0.27111476008579843,-1.9741709924884603,0.71338606911949],"aabb_xy":[[-0.3511147570488376,-2.0512466341322333],[-0.19111476312275927,-1.8970953508446864]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6883960784165727,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/660.png","name":"660"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/660.png","name":"660"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/21.png","name":"21"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2271.png","name":"2271"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1810.png","name":"1810"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":585.1373842115773,"rotation_z_degrees":167.91860793588833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016744740524741345,0.006361353463812627,0.00019900897750702376]},{"name":"camera_2","offset_m":[-0.016507421909165713,-0.009095539752297266,-0.005565142194954475]},{"name":"camera_3","offset_m":[-0.012731490266851098,-0.0015718050744191019,-0.0004940774464891363]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018189250065230142,0.0001108455392661049,-0.0015621114860192528],"end_effector_yaw_offset_degrees":-0.8086852796560224},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[2.2126693071090452e-05,-0.00010327857036789337,0.0008465149370781343],"end_effector_yaw_offset_degrees":0.9076519351908208},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0001292753824351056,0.0019909576298717084,-0.0001955468753500496],"end_effector_yaw_offset_degrees":0.23810505716746033},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001268995096688564,0.0014239369026084452,0.0008316666942106555],"end_effector_yaw_offset_degrees":0.9000709593015381},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004994072442185277,-0.0010561866696303583,0.0014330262418738877],"end_effector_yaw_offset_degrees":-0.5912823761147004},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006311108519377934,-0.0010883447765000587,0.0019656857714094875],"end_effector_yaw_offset_degrees":0.8662683651800231}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024426888381167836,-0.004638706069330173],"position_m":[0.1429426888381168,0.23006129393066982,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0012304654027509663,0.000950101243342656],"position_m":[0.21483046540275097,-0.052749898756657344,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0026946839120270986,0.004691401931630967],"position_m":[0.2517946839120271,-0.37870859806836904,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0022190597015269284,0.0037522497276332055],"position_m":[0.35581905970152694,0.1209522497276332,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e1524896cb1c12b9ba27a6c4f33fa84658811ef927ca3ba51508ccced30d7ed9","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0086.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_660/tex_ceiling_textures_1810/tex_floor_textures_9999/tex_table_textures_21/tex_wall_textures_2271","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5209748474074996212,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5209748474074996212,"visual_seed":5209748474074996212,"scene_id":"lab_003","finished_at":"2026-09-06T17:09:45"} +{"episode_id":"ep_000085","started_at":"2026-09-06T17:09:50","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_0","position":[0.3240614172481837,-1.3915715837059355,0.71338606911949],"aabb_xy":[[0.30494910989020485,-1.4107063625831775],[0.3431737246061626,-1.3724368048286935]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[0.6418908859460195,1.7561829814624406,0.71338606911949],"aabb_xy":[[0.6275564608198559,1.7441227659079017],[0.6562253110721828,1.7682431970169794]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.21259376153665588,1.3063454926098297,0.71338606911949],"aabb_xy":[[0.1947246537822004,1.2925125846326184],[0.2304628692911114,1.3201784005870405]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_3","position":[-0.38199593677139587,0.1875344322820487,0.71338606911949],"aabb_xy":[[-0.47199593536586576,0.17128384596862767],[-0.2919959381769259,0.2037850185954697]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_4","position":[-0.6248194744872223,-0.15987426135811278,0.71338606911949],"aabb_xy":[[-0.6548111372210925,-0.1898742606949133],[-0.5948278117533519,-0.12987426202131225]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_5","position":[0.08138030055875378,-0.711892678479451,0.71338606911949],"aabb_xy":[[0.07257824524978107,-0.71970400463438],[0.0901823558677265,-0.7040813523245218]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_6","position":[0.6746156621093031,-2.553197736598076,0.71338606911949],"aabb_xy":[[0.655731278340793,-2.5720836613784286],[0.6935000458778134,-2.534311811817723]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_7","position":[0.37662059810524395,-1.582288257440416,0.71338606911949],"aabb_xy":[[0.2928983726051615,-1.672288260975112],[0.4603428236053264,-1.49228825390572]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_8","position":[-0.3658245030168321,-0.7537094282232368,0.71338606911949],"aabb_xy":[[-0.42345497190410286,-0.8137094271499472],[-0.3081940341295612,-0.6937094292965261]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_9","position":[0.48969201296838905,-2.3961252553179424,0.71338606911949],"aabb_xy":[[0.44021159175443025,-2.4601252532307942],[0.5391724341823478,-2.3321252574050906]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[-0.10238070777915942,-0.9890658964211338,0.71338606911949],"aabb_xy":[[-0.1373807076751783,-0.9974401319330739],[-0.06738070788314054,-0.980691660909194]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_11","position":[-0.20745493249016805,-2.362224841684397,0.71338606911949],"aabb_xy":[[-0.28745493047095305,-2.369826382646249],[-0.12745493450938297,-2.354623300722545]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_12","position":[0.5526859207377008,-1.41648839310692,0.71338606911949],"aabb_xy":[[0.5105015065768701,-1.4804883933841315],[0.5948703348985316,-1.3524883928297091]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_13","position":[0.5687394438399658,0.9993367407609357,0.71338606911949],"aabb_xy":[[0.5047394419276233,0.9434255915029253],[0.632739445752308,1.0552478900189461]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.35247960750870533,-2.2621224860617852,0.71338606911949],"aabb_xy":[[0.31747960831588695,-2.273089532059447],[0.3874796067015235,-2.251155440064122]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_15","position":[-0.3774308500876366,-1.0920212224395722,0.71338606911949],"aabb_xy":[[-0.3898982081973723,-1.104486547072896],[-0.364963491977901,-1.079555897806249]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.013859440655339283,1.5575245199879455,0.71338606911949],"aabb_xy":[[-0.006198970957901008,1.537459433078788],[0.033917852268579574,1.577589606897103]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_17","position":[-0.4447489514816434,0.04523742287074395,0.71338606911949],"aabb_xy":[[-0.4947489518422094,-0.004742564338859],[-0.3947489511210773,0.09521741008034688]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_18","position":[0.540619070702473,-1.9166234939115663,0.71338606911949],"aabb_xy":[[0.4766190721159004,-1.9636304573110748],[0.6046190692890453,-1.8696165305120573]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.15527466679109714,-1.0043402636921157,0.71338606911949],"aabb_xy":[[0.09127466653062631,-1.0493490630450437],[0.21927466705156792,-0.9593314643391878]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_20","position":[0.13524107806024022,0.9356818132590536,0.71338606911949],"aabb_xy":[[0.08743491044647154,0.8706818105519946],[0.18304724567400885,1.0006818159661126]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.44923426465381944,-0.43422939877439504,0.71338606911949],"aabb_xy":[[0.39923426370328663,-0.46577854577791644],[0.49923426560435225,-0.40268025177087363]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_22","position":[-0.4210549919358738,-2.1246616574004804,0.71338606911949],"aabb_xy":[[-0.45483055112656684,-2.1387001526136453],[-0.3872794327451809,-2.1106231621873155]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_23","position":[-0.049679316975523746,-1.6184698780188655,0.71338606911949],"aabb_xy":[[-0.11467931553259658,-1.6482224114327482],[0.01532068158154909,-1.588717344604983]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_24","position":[-0.36702727725391326,-0.3228584294976762,0.71338606911949],"aabb_xy":[[-0.3782723328245311,-0.33410022722177146],[-0.35578222168329543,-0.3116166317735809]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.22895203735994196,0.4776542365305474,0.71338606911949],"aabb_xy":[[-0.2929520366541102,0.4136680961616932],[-0.16495203806577374,0.5416403768994016]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_26","position":[-0.4169778804899874,-1.378290274472701,0.71338606911949],"aabb_xy":[[-0.4243903360313759,-1.384141484894329],[-0.40956542494859893,-1.372439064051073]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6895709425028806,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7974.png","name":"7974"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7974.png","name":"7974"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2462.png","name":"2462"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4351.png","name":"4351"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9650.png","name":"9650"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2439.png","name":"2439"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":514.2106499551902,"rotation_z_degrees":54.855555174138956,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011789464372233851,-0.014224747964035375,0.011188645671418862]},{"name":"camera_2","offset_m":[0.015058641136552916,0.013810116025154303,0.015355334967564496]},{"name":"camera_3","offset_m":[0.015059933557762157,-0.003954933293705866,0.00410168951585194]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[6.82625310789416e-05,-0.0010815215195664864,-0.00024112800319218584],"end_effector_yaw_offset_degrees":-0.6180379147817923},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018363465117668403,0.00135735280409203,-0.0006025975069528752],"end_effector_yaw_offset_degrees":-0.6342496830440543},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000425448644121129,-0.0013274172194292526,-0.00021426530379411632],"end_effector_yaw_offset_degrees":-0.9398314268367767},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011472348586578185,-0.0015488251560968971,0.0014420769053576006],"end_effector_yaw_offset_degrees":-0.9715571228793485},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001865913194517521,0.00027644806928437196,0.0010179503913635615],"end_effector_yaw_offset_degrees":0.05491293245996731},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[3.335918331964739e-05,-0.0010852090751197708,0.0003338154303038753],"end_effector_yaw_offset_degrees":-0.3369309671832805}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007212098702901659,-0.0021522336418873566],"position_m":[0.13977879012970984,0.23254776635811264,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003163444552521163,0.0013673355752278635],"position_m":[0.21043655544747886,-0.052332664424772135,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00020296998435632724,-0.0011745636290305885],"position_m":[0.2493029699843563,-0.3845745636290306,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004725779953058244,-0.004442057606747032],"position_m":[0.35832577995305825,0.11275794239325297,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f6ba66b4ee4dd685ef40b5ce01bddf682710986452d7e24c8321c47362369727","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_7974/tex_ceiling_textures_2439/tex_floor_textures_9650/tex_table_textures_2462/tex_wall_textures_4351","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":198852049567537536,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":198852049567537536,"visual_seed":198852049567537536,"scene_id":"lab_003","finished_at":"2026-09-06T17:15:35"} +{"episode_id":"ep_000086","started_at":"2026-09-06T17:15:41","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_0","position":[0.5280573107083197,1.1108160292407305,0.71338606911949],"aabb_xy":[[0.5224756390741909,1.098316029422955],[0.5336389823424486,1.123316029058506]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_1","position":[0.5764413829566959,-2.291405977825465,0.71338606911949],"aabb_xy":[[0.5575569991881857,-2.3102919026058184],[0.5953257667252061,-2.272520053045113]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_2","position":[-0.2055994215118354,-2.2630589675311894,0.71338606911949],"aabb_xy":[[-0.2400617689099772,-2.297552849929011],[-0.1711370741136936,-2.228565085133366]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_3","position":[0.6464847262075797,-1.1873905680192731,0.71338606911949],"aabb_xy":[[0.5966020293298835,-1.2373905672655479],[0.6963674230852759,-1.1373905687729984]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_4","position":[0.5133861123776065,-0.8949604607529968,0.71338606911949],"aabb_xy":[[0.4783861124011105,-0.9044250768006133],[0.5483861123541022,-0.8854958447053801]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_5","position":[0.2880788454327816,-0.6211513273707785,0.71338606911949],"aabb_xy":[[0.2661701632934305,-0.6430519941908692],[0.3099875275721326,-0.5992506605506878]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[0.08940325061973764,-2.516720143792181,0.71338606911949],"aabb_xy":[[0.04838530723336676,-2.566720144423139],[0.13042119400610852,-2.4667201431612242]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_7","position":[-0.2621594889067724,-1.342016373690127,0.71338606911949],"aabb_xy":[[-0.29895412203167865,-1.3789222487867092],[-0.2253648557818661,-1.3051104985935447]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_8","position":[-0.049102153173301244,-0.9902181838603257,0.71338606911949],"aabb_xy":[[-0.1131021563919391,-1.036941295759334],[0.014897850045336614,-0.9434950719613173]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_9","position":[0.4289571852208798,1.689639677999383,0.71338606911949],"aabb_xy":[[0.38378586737271086,1.6256396808548446],[0.4741285030690488,1.7536396751439214]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.4004497668360121,-0.8123813635431099,0.71338606911949],"aabb_xy":[[0.38700324020196875,-0.8258512151962012],[0.4138962934700554,-0.7989115118900187]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_11","position":[0.6191337512212263,1.262150286852168,0.71338606911949],"aabb_xy":[[0.6156930749811691,1.2582888538778034],[0.6225744274612834,1.2660117198265324]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_12","position":[-0.5741675727712188,0.7003408066918695,0.71338606911949],"aabb_xy":[[-0.6091675741227005,0.6799810707350487],[-0.539167571419737,0.7207005426486903]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[-0.2866387831978593,1.025236563346808,0.71338606911949],"aabb_xy":[[-0.3766387829210334,1.0021632108116278],[-0.19663878347468508,1.0483099158819875]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.6052592039454503,-0.7566710286479887,0.71338606911949],"aabb_xy":[[0.541259205358878,-0.8036779920474975],[0.6692592025320229,-0.70966406524848]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.07126022819759203,0.7183408674163774,0.71338606911949],"aabb_xy":[[-0.07722676713832782,0.7123797227570133],[-0.06529368925685625,0.7243020120757414]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_16","position":[0.4103732088758183,-2.448465889355214,0.71338606911949],"aabb_xy":[[0.36906866581208225,-2.512465888923331],[0.45167775193955423,-2.384465889787097]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[-0.5515712896931195,1.3636153832592988,0.71338606911949],"aabb_xy":[[-0.5589837452345079,1.3577641728376706],[-0.5441588341517309,1.3694665936809265]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_18","position":[0.3476782950770927,-1.5501857005969166,0.71338606911949],"aabb_xy":[[0.3132158170640049,-1.5568493777798393],[0.38214077309018046,-1.5435220234139935]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_19","position":[0.62064131311136,-0.15117685012128534,0.71338606911949],"aabb_xy":[[0.5784568989505292,-0.21517685039849654],[0.6628257272721907,-0.08717684984407414]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_20","position":[0.05679296035066428,0.9311089946175923,0.71338606911949],"aabb_xy":[[0.04953171278025687,0.9183219843540829],[0.06405420792107169,0.9438960048811018]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_21","position":[-0.5793483729842784,-0.4787573324777208,0.71338606911949],"aabb_xy":[[-0.5899158526423774,-0.48930236259072935],[-0.5687808933261794,-0.46821230236471223]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6912848040758867,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9259.png","name":"9259"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9259.png","name":"9259"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3863.png","name":"3863"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6710.png","name":"6710"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9184.png","name":"9184"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7494.png","name":"7494"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":775.7173892390852,"rotation_z_degrees":57.991936793117375,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004820616090318825,0.006677737376305934,0.008049647403163416]},{"name":"camera_2","offset_m":[0.008210867832278125,0.004457455437819242,-0.008579941048042702]},{"name":"camera_3","offset_m":[-0.0028526205666017067,-0.012084442527302048,0.01229810585499649]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010698079945770421,0.0014999648359249186,0.0016163613100883024],"end_effector_yaw_offset_degrees":-0.17903571197444657},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001266082528277986,0.0019883361168690815,0.0017998754018694815],"end_effector_yaw_offset_degrees":-0.32304089377908163},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00032402461699698824,-0.0014906717038054413,0.000980249619323162],"end_effector_yaw_offset_degrees":-0.03058522465828406},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008847507171918384,-0.0008136873669974526,-0.0011368943475387337],"end_effector_yaw_offset_degrees":-0.49748892661018806},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014656626787167976,0.0006317535137446814,-0.001883054916660692],"end_effector_yaw_offset_degrees":0.5958001212581683},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013834743878506331,-0.001214314677588729,-0.00018252654105325701],"end_effector_yaw_offset_degrees":0.7429733317575606}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004528663028742297,0.002418704607857025],"position_m":[0.1359713369712577,0.23711870460785703,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033343663063625096,0.0027880026802816005],"position_m":[0.21026563369363752,-0.0509119973197184,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033655258010310786,0.0004719040723023373],"position_m":[0.25246552580103104,-0.38292809592769766,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037823503360193455,-0.0012531778879671896],"position_m":[0.3573823503360194,0.1159468221120328,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"92e5fa2e208a8f1276adf5de3ed2b7a85ed159980ae5ec9ef790282cb278dbfb","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0088.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9259/tex_ceiling_textures_7494/tex_floor_textures_9184/tex_table_textures_3863/tex_wall_textures_6710","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":8002021464590839791,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":8002021464590839791,"visual_seed":8002021464590839791,"scene_id":"lab_003","finished_at":"2026-09-06T17:21:40"} +{"episode_id":"ep_000087","started_at":"2026-09-06T17:21:47","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_0","position":[-0.2606906857850843,1.6227271882350238,0.71338606911949],"aabb_xy":[[-0.2643939471142231,1.6190251699263059],[-0.2569874244559454,1.6264292065437413]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[0.15806913535008815,-0.8484740728828741,0.71338606911949],"aabb_xy":[[0.15007564555480615,-0.8564722048233498],[0.1660626251453702,-0.8404759409423986]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.6608594040560483,-1.218613215106437,0.71338606911949],"aabb_xy":[[0.6308677413221778,-1.2486132144432374],[0.6908510667899185,-1.1886132157696363]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_3","position":[0.2419349993300225,-2.2575011657841557,0.71338606911949],"aabb_xy":[[0.19193499896945646,-2.3074811529937582],[0.29193499969058856,-2.2075211785745523]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_4","position":[0.27060320304099383,-0.9575175813651036,0.71338606911949],"aabb_xy":[[0.2529275724523955,-0.9751977976445063],[0.28827883362959217,-0.9398373650857008]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[0.6745983642877156,1.2451001930378154,0.71338606911949],"aabb_xy":[[0.6594354913107785,1.2299347357426966],[0.6897612372646527,1.2602656503329341]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_6","position":[0.4608839207454243,-2.173201960535257,0.71338606911949],"aabb_xy":[[0.40325345185815326,-2.2332019594619665],[0.5185143896326949,-2.1132019616085453]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_7","position":[-0.0561420491569905,-1.3971386976916929,0.71338606911949],"aabb_xy":[[-0.10614205010752331,-1.428687844695214],[-0.006142048206457695,-1.3655895506881712]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.17181602169499954,-1.0657387044875646,0.71338606911949],"aabb_xy":[[0.16252240345784894,-1.1032387029756985],[0.1811096399321501,-1.0282387059994307]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_9","position":[0.15178826419027924,-1.8468958415150598,0.71338606911949],"aabb_xy":[[0.1464506885242747,-1.8718958424441994],[0.15712583985628384,-1.8218958405859198]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_10","position":[-0.5427812328802842,-1.6086696510143763,0.71338606911949],"aabb_xy":[[-0.6077812310362032,-1.6349658955642885],[-0.47778123472436507,-1.5823734064644641]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_11","position":[-0.12018487100826392,-0.8515424597643195,0.71338606911949],"aabb_xy":[[-0.1801848716042801,-0.9063549323095429],[-0.06018487041224775,-0.7967299872190959]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.6470535311369462,-0.22933547380230657,0.71338606911949],"aabb_xy":[[-0.6782004499805293,-0.29933547248911374],[-0.6159066122933631,-0.15933547511549936]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_13","position":[-0.41020522847723095,-0.5946053228071593,0.71338606911949],"aabb_xy":[[-0.45968564969118975,-0.6586053207200111],[-0.36072480726327216,-0.5306053248943075]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.5426808538083986,0.9845746959796875,0.71338606911949],"aabb_xy":[[-0.5530924124888823,0.9792289626437889],[-0.5322692951279149,0.9899204293155859]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_15","position":[0.3473111830935005,1.2798827311935406,0.71338606911949],"aabb_xy":[[0.3098111815778688,1.2686559581773955],[0.3848111846091322,1.2911095042096856]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.16968200176407178,0.8422355096036815,0.71338606911949],"aabb_xy":[[0.1537975084987466,0.8278825693048574],[0.1855664950293969,0.8565884499025055]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_17","position":[-0.5508837281280694,-0.23635273008713753,0.71338606911949],"aabb_xy":[[-0.5687528358825249,-0.25018563806434846],[-0.5330146203736139,-0.22251982210992657]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[-0.3671130355636015,-0.35658237376212654,0.71338606911949],"aabb_xy":[[-0.4321130334452494,-0.4077060374686674],[-0.30211303768195374,-0.3054587100555856]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_19","position":[-0.22978060638951237,0.15078797417434364,0.71338606911949],"aabb_xy":[[-0.23919808095937511,0.1413717970366246],[-0.22036313181964962,0.16020415131206267]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_20","position":[-0.4348474344823864,-1.872773027652633,0.71338606911949],"aabb_xy":[[-0.4631771444309266,-1.8772337698463504],[-0.40651772453384616,-1.8683122854589163]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_21","position":[0.6041830007165825,-1.0312688283724736,0.71338606911949],"aabb_xy":[[0.5742154438067568,-1.0612688286703593],[0.6341505576264082,-1.0012688280745878]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6936557509281062,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4756.png","name":"4756"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6431.png","name":"6431"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1086.png","name":"1086"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9044.png","name":"9044"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8516.png","name":"8516"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":501.73343382475525,"rotation_z_degrees":343.1357396851883,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01654978172484445,-0.011268628886165057,-0.002661073623052325]},{"name":"camera_2","offset_m":[-0.007011399528042115,-0.014090088441911983,0.0033162810969222176]},{"name":"camera_3","offset_m":[-0.012405178835225673,0.011355017126423558,-0.0015340817759351977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012770072675781655,0.00131232206230605,-0.00044492244307734233],"end_effector_yaw_offset_degrees":0.07453644607179455},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0004939277043617576,0.0007880488317664829,-0.0008489613141830317],"end_effector_yaw_offset_degrees":0.8154977063819939},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.000931545465801291,2.6789559892792005e-05,-0.0001181689291607055],"end_effector_yaw_offset_degrees":0.438936875412993},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009648858738895115,-0.00186760979733269,-0.001636733391644554],"end_effector_yaw_offset_degrees":-0.2626861264793665},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011116439436013943,-0.00018699164402688072,0.0011327591417893208],"end_effector_yaw_offset_degrees":-0.8807916255336881},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00046768699874707824,0.0017278511506231297,0.001256383530090287],"end_effector_yaw_offset_degrees":0.06917668863854587}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-4.477477788492751e-05,0.0007910473031047518],"position_m":[0.1404552252221151,0.23549104730310474,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0012013689006627136,-0.0015813373999650948],"position_m":[0.2123986310993373,-0.055281337399965096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003104017224171733,-0.004180208556091779],"position_m":[0.25220401722417174,-0.3875802085560918,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00026032343168812776,-0.0024614054239609274],"position_m":[0.35386032343168816,0.11473859457603908,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"26079571815101207c80036309971e4dea28fa62339b61a52379082f83a35f9b","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0089.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_4756/tex_ceiling_textures_8516/tex_floor_textures_9044/tex_table_textures_6431/tex_wall_textures_1086","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":93553513505444062,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":93553513505444062,"visual_seed":93553513505444062,"scene_id":"lab_003","finished_at":"2026-09-06T17:27:50"} +{"episode_id":"ep_000088","started_at":"2026-09-06T17:27:56","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_0","position":[0.32677931211323186,1.1003869831152242,0.71338606911949],"aabb_xy":[[0.31907612143915476,1.092677612416486],[0.33448250278730884,1.1080963538139623]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_1","position":[-0.6359914996782138,1.3398271231072734,0.71338606911949],"aabb_xy":[[-0.6535698018671606,1.3222526335331684],[-0.6184131974892669,1.3574016126813784]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_2","position":[0.4283780691452723,-0.3226434118423076,0.71338606911949],"aabb_xy":[[0.39460250995457924,-0.33668190705547263],[0.4621536283359652,-0.3086049166291426]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.6009166287544491,0.6433928381574519,0.71338606911949],"aabb_xy":[[-0.6809166274113351,0.6288879792331892],[-0.5209166300975631,0.6578976970817147]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_4","position":[-0.27493753233268664,-1.9997589823063397,0.71338606911949],"aabb_xy":[[-0.3389375355513245,-2.0464820942053485],[-0.21093752911404878,-1.9530358704073316]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_5","position":[-0.06489309336620941,1.6522607065338701,0.71338606911949],"aabb_xy":[[-0.08077758663153456,1.6379077662350463],[-0.04900860010088426,1.6666136468326944]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_6","position":[0.15278016636166392,-0.8106498338392745,0.71338606911949],"aabb_xy":[[0.14200719244029614,-0.8456498320583135],[0.1635531402830317,-0.7756498356202355]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_7","position":[0.17165676695770782,1.7610467707145703,0.71338606911949],"aabb_xy":[[0.1341567670139414,1.7527536806797335],[0.20915676690147422,1.7693398607494066]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_8","position":[0.5913753046518184,-0.25316068093741295,0.71338606911949],"aabb_xy":[[0.5737424690582908,-0.27078362695303587],[0.609008140245346,-0.23553773492178995]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_9","position":[-0.47851346450747706,-0.6926115599364226,0.71338606911949],"aabb_xy":[[-0.5285134631533983,-0.7425311035958849],[-0.4285134658615558,-0.6426920162769602]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_10","position":[0.6515171966660247,1.5771233860565501,0.71338606911949],"aabb_xy":[[0.6165171967700058,1.56874915054461],[0.6865171965620436,1.5854976215684902]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_11","position":[-0.13164870215224367,0.7484733761974249,0.71338606911949],"aabb_xy":[[-0.18164870310277645,0.7169242291939035],[-0.08164870120171083,0.7800225232009463]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[-0.3559165766432761,-2.484661411042494,0.71338606911949],"aabb_xy":[[-0.36233039028646097,-2.491071231290162],[-0.3495027630000911,-2.4782515907948257]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_13","position":[-0.014142477022352051,1.4491134428516967,0.71338606911949],"aabb_xy":[[-0.03420088863559234,1.429048355942539],[0.005915934590888239,1.469178529760854]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_14","position":[0.31508720074178753,-2.2863898744362894,0.71338606911949],"aabb_xy":[[0.298410064748692,-2.3030897984102197],[0.33176433673488304,-2.269689950462359]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_15","position":[0.3935846335193798,-1.1911343862182835,0.71338606911949],"aabb_xy":[[0.35608463509597943,-1.204298600186114],[0.4310846319427801,-1.1779701722504525]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_16","position":[0.29702235502000485,0.9208560853906582,0.71338606911949],"aabb_xy":[[0.2930618712502705,0.9131882208051377],[0.3009828387897392,0.9285239499761789]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.3372468954942912,0.2944659762266064,0.71338606911949],"aabb_xy":[[-0.35415762793063293,0.2809937706339919],[-0.3203361630579494,0.30793818181922095]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_18","position":[-0.3475145059361401,1.3010500214573844,0.71338606911949],"aabb_xy":[[-0.3524137982427035,1.2733731021548154],[-0.34261521362957653,1.328726940759953]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_19","position":[-0.3730978475071648,-1.1566531794106807,0.71338606911949],"aabb_xy":[[-0.38225772645104145,-1.1631843974542178],[-0.36393796856328825,-1.1501219613671436]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_20","position":[0.005962909195516564,-1.3185061667961595,0.71338606911949],"aabb_xy":[[-0.07403708781873142,-1.3386407184695708],[0.08596290620976454,-1.2983716151227482]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_21","position":[0.3795103329103473,-0.9601880284928535,0.71338606911949],"aabb_xy":[[0.35701033338663984,-0.9826839759434741],[0.40201033243405465,-0.9376920810422326]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_22","position":[-0.21485110578383687,-1.715338838332694,0.71338606911949],"aabb_xy":[[-0.2648511074453316,-1.7653372805883965],[-0.16485110412234205,-1.665340396076991]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_23","position":[0.20070606780147904,-2.2742276729506727,0.71338606911949],"aabb_xy":[[0.18606266224744603,-2.288886392607457],[0.215349473355512,-2.2595689532938885]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_24","position":[-0.27921063950435543,0.4719570355397962,0.71338606911949],"aabb_xy":[[-0.28733832769766865,0.4630434271290885],[-0.2710829513110422,0.48087064395050383]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_25","position":[0.11280317539800744,1.2499023450442484,0.71338606911949],"aabb_xy":[[0.0972474059877422,1.2343519117998412],[0.12835894480827273,1.2654527782886555]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.004065419714294749,-1.7419605701736014,0.71338606911949],"aabb_xy":[[-0.053565049172976095,-1.8019605691003118],[0.06169588860156559,-1.6819605712468906]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_27","position":[-0.035171263172821154,-1.5380328386842457,0.71338606911949],"aabb_xy":[[-0.04062920880984122,-1.6180328419919043],[-0.029713317535801087,-1.4580328353765861]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6862579898443865,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3459.png","name":"3459"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3459.png","name":"3459"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3038.png","name":"3038"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9758.png","name":"9758"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8293.png","name":"8293"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":834.3759236922369,"rotation_z_degrees":162.18998734612217,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01581403353005695,0.01988854517727601,-0.013505296100932634]},{"name":"camera_2","offset_m":[-0.00556178158555865,-0.0013490618848433465,0.012844269583885525]},{"name":"camera_3","offset_m":[0.005471201043832887,-0.01667926174430949,-0.005644540667143972]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014761026296434394,0.0010738455721509893,0.0017449445107028936],"end_effector_yaw_offset_degrees":0.5322089072177203},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003363501891449662,0.00022709747904670757,-0.001246803162892527],"end_effector_yaw_offset_degrees":0.03769485821196783},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00018483514582168063,0.0004493110853540389,-0.001392752809585042],"end_effector_yaw_offset_degrees":-0.9951987121679511},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017655541396738588,-0.0005437524671267693,-0.0015062129490426824],"end_effector_yaw_offset_degrees":-0.3984420201686234},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001061168636568448,0.0007897024082762988,0.0008933483120949748],"end_effector_yaw_offset_degrees":0.8171499923621384},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001704712224506031,1.1195847841343875e-05,0.001266779779744836],"end_effector_yaw_offset_degrees":0.46482787357400257}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003520859210229839,0.004457368258909226],"position_m":[0.14402085921022986,0.2391573682589092,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0038983943657614423,0.0023207547894752286],"position_m":[0.21749839436576146,-0.05137924521052477,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0029979523834105927,2.6619694203635844e-06],"position_m":[0.2461020476165894,-0.3833973380305797,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033961860222609897,-0.00044774543977553743],"position_m":[0.356996186022261,0.11675225456022446,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d02640798e13752a6fc289f30da23777e54241fecfc54a3faf6b6dccda313c90","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0090.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3459/tex_ceiling_textures_8293/tex_floor_textures_8807/tex_table_textures_3038/tex_wall_textures_9758","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":182868874265627768,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":182868874265627768,"visual_seed":182868874265627768,"scene_id":"lab_003","finished_at":"2026-09-06T17:33:45"} +{"episode_id":"ep_000089","started_at":"2026-09-06T17:33:50","dimensions":{"distractor":{"count":30,"items":[{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_0","position":[-0.5937075816252558,-0.8556264720665832,0.71338606911949],"aabb_xy":[[-0.6307416910533157,-0.8900036794002926],[-0.5566734721971962,-0.8212492647328737]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_1","position":[-0.11321676928461832,-0.5600529211766134,0.71338606911949],"aabb_xy":[[-0.12121025907990038,-0.5680510531170891],[-0.10522327948933632,-0.5520547892361379]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_2","position":[-0.5923580899753726,-1.406703187449065,0.71338606911949],"aabb_xy":[[-0.6016517082125232,-1.4442031859371987],[-0.5830644717382221,-1.3692031889609309]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_3","position":[0.1524674287011284,-1.4038384045772139,0.71338606911949],"aabb_xy":[[0.10248862019081251,-1.4538384045829327],[0.20244623721144428,-1.353838404571495]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_4","position":[-0.15596149479878385,-1.2036583073862959,0.71338606911949],"aabb_xy":[[-0.17846063052501082,-1.226158308164559],[-0.13346235907255688,-1.1811583066080331]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_5","position":[-0.6295304557828493,-1.9842382553551263,0.71338606911949],"aabb_xy":[[-0.6895304563788655,-2.03905072790035],[-0.5695304551868331,-1.9294257828099028]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[0.46803686857310933,-0.07014027782961518,0.71338606911949],"aabb_xy":[[0.430536870149709,-0.0833044917974458],[0.5055368669965097,-0.05697606386178454]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_7","position":[0.32229584220953456,-0.8286604047598427,0.71338606911949],"aabb_xy":[[0.27229584054803974,-0.8786588470155453],[0.37229584387102926,-0.7786619625041399]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_8","position":[-0.39840601886795046,1.7381842540887962,0.71338606911949],"aabb_xy":[[-0.46840602099937995,1.7154222884631003],[-0.32840601673652087,1.7609462197144916]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_9","position":[0.5476849717476187,-0.9863277655446505,0.71338606911949],"aabb_xy":[[0.5238487541070137,-1.0763277663531372],[0.5715211893882238,-0.8963277647361643]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_10","position":[0.10787752309729814,-1.7668159398897672,0.71338606911949],"aabb_xy":[[0.10297823079073462,-1.794492859192336],[0.11277681540386161,-1.7391390205871984]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_11","position":[0.6052654970593192,-0.3231794065040283,0.71338606911949],"aabb_xy":[[0.5452654972127524,-0.379998028697067],[0.665265496905886,-0.26636078431098964]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.3035373976977951,0.6173582501419212,0.71338606911949],"aabb_xy":[[-0.3735374003343814,0.5972533851460555],[-0.23353739506120869,0.6374631151377865]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[-0.5850129810480477,-0.060336648482472555,0.71338606911949],"aabb_xy":[[-0.6277796879274679,-0.12433665190427501],[-0.5422462741686275,0.0036633549393298923]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_14","position":[0.29070964396830234,-1.6159109202058741,0.71338606911949],"aabb_xy":[[0.24072540826012506,-1.6659109190193697],[0.3406938796764795,-1.5659109213923785]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_15","position":[-0.4429628096026805,-1.98263127557493,0.71338606911949],"aabb_xy":[[-0.522962811765443,-2.062586459201073],[-0.362962807439918,-1.9026760919487862]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[-0.5844530446465015,1.2111212997710474,0.71338606911949],"aabb_xy":[[-0.6484530410738234,1.163951675948951],[-0.5204530482191796,1.2582909235931439]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_17","position":[-0.056782034833010586,-1.746341447553745,0.71338606911949],"aabb_xy":[[-0.06965393833395071,-1.826341447967581],[-0.04391013133207044,-1.6663414471399087]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[-0.38645144413664184,0.7801329364580099,0.71338606911949],"aabb_xy":[[-0.4364288610018954,0.7301329349687613],[-0.3364740272713882,0.8301329379472584]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_19","position":[-0.5390465254863693,0.5165113550649392,0.71338606911949],"aabb_xy":[[-0.550615506233306,0.49151135494800746],[-0.5274775447394329,0.5415113551818709]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.4039526984300301,-2.2355732760032425,0.71338606911949],"aabb_xy":[[0.36645269832443716,-2.242395437856223],[0.4414526985356231,-2.228751114150261]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_21","position":[-0.6038426237234065,0.362650160168005,0.71338606911949],"aabb_xy":[[-0.6343268738504366,0.31265016038650906],[-0.5733583735963763,0.41265015994950094]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_22","position":[-0.06959401981056668,1.4621030484958886,0.71338606911949],"aabb_xy":[[-0.09459401974308457,1.4552203802749653],[-0.044594019878048785,1.4689857167168119]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_23","position":[-0.2553863827212916,-2.1849541633407474,0.71338606911949],"aabb_xy":[[-0.30520316218612636,-2.2349541618250504],[-0.20556960325645685,-2.1349541648564436]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_24","position":[-0.46493006597335057,-0.3169718570480282,0.71338606911949],"aabb_xy":[[-0.5289300681937577,-0.36134494117331656],[-0.4009300637529435,-0.27259877292274]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_25","position":[0.519535045207328,0.6872070097820213,0.71338606911949],"aabb_xy":[[0.4695350465614069,0.6372874661225589],[0.5695350438532493,0.7371265534414837]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[-0.39050554848783003,1.461354856138183,0.71338606911949],"aabb_xy":[[-0.43831171610159864,1.396354853431124],[-0.3426993808740614,1.5263548588452418]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_27","position":[-0.18417765831673316,-0.6802492365066146,0.71338606911949],"aabb_xy":[[-0.18860828767157334,-0.6856976082412973],[-0.17974702896189299,-0.6748008647719321]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.013732064764371388,-2.476768174445365,0.71338606911949],"aabb_xy":[[-0.031407695352969715,-2.4944483907247674],[0.0039435658242269475,-2.459087958165962]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[-0.28355275700262766,1.2942525921000851,0.71338606911949],"aabb_xy":[[-0.34355275751048053,1.2374058584141638],[-0.2235527564947747,1.3510993257860064]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6916288407634,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3272.png","name":"3272"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3272.png","name":"3272"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4199.png","name":"4199"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7077.png","name":"7077"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1443.png","name":"1443"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7036.png","name":"7036"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.6127624583219,"rotation_z_degrees":150.42277839514102,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010579076340783873,-0.003638682431121039,0.0066129637411754365]},{"name":"camera_2","offset_m":[-0.009374212730909668,0.010608336028501229,0.01230811059001995]},{"name":"camera_3","offset_m":[-0.0045992603481953016,-0.003957981159058054,-0.012249164359855774]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014406490107357504,-0.0004222045514937708,-0.0002041905486529934],"end_effector_yaw_offset_degrees":-0.7841722058401066},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0009973197104714542,-0.0004918152554152164,0.0007169951976798688],"end_effector_yaw_offset_degrees":-0.9095968239065602},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005494281686842936,0.0016110131846786783,0.0016907230627488208],"end_effector_yaw_offset_degrees":-0.9386699796261488},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00030007318063354836,-0.0003875483708159666,-0.0007693248979732661],"end_effector_yaw_offset_degrees":-0.9215823474044331},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008728199049088154,0.000746743294631974,0.00041598564407371733],"end_effector_yaw_offset_degrees":-0.5416909124216043},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001288627992074002,2.705721034558864e-05,9.314697166233881e-05],"end_effector_yaw_offset_degrees":-0.2597142184191086}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0009737518667116245,-0.0020232780705690834],"position_m":[0.14147375186671163,0.2326767219294309,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004446434747789369,0.0007061836970840771],"position_m":[0.20915356525221065,-0.05299381630291592,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004639944817723655,0.001770384924120183],"position_m":[0.25373994481772366,-0.38162961507587984,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0030934836749808787,-0.0033083850638125087],"position_m":[0.3566934836749809,0.11389161493618749,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b859284ddafe63bb3c7a4d82e11ebb6c0853c27d41401ad56ae8d644eb173e7e","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0091.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3272/tex_ceiling_textures_7036/tex_floor_textures_1443/tex_table_textures_4199/tex_wall_textures_7077","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":183830587226866858,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":183830587226866858,"visual_seed":183830587226866858,"scene_id":"lab_003","finished_at":"2026-09-06T17:40:08"} +{"episode_id":"ep_000090","started_at":"2026-09-06T17:40:13","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_0","position":[-0.23956123746903196,-2.0123933435693004,0.71338606911949],"aabb_xy":[[-0.2770612372860655,-2.0170315548804423],[-0.2020612376519984,-2.0077551322581586]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_1","position":[-0.22978322113615518,-0.9916315412960659,0.71338606911949],"aabb_xy":[[-0.24533899054642047,-1.0071819745404733],[-0.21422745172588994,-0.976081108051659]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_2","position":[-0.1939609768971663,-1.1062642258942563,0.71338606911949],"aabb_xy":[[-0.2048125831460419,-1.1171235166219073],[-0.1831093706482907,-1.0954049351666053]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.5760504953927641,-2.2201182243064146,0.71338606911949],"aabb_xy":[[-0.5886772826799604,-2.2296642980079877],[-0.5634237081055677,-2.2105721506048415]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.43141679502947006,-2.209457514237603,0.71338606911949],"aabb_xy":[[0.39438268560141027,-2.2438347215713126],[0.46845090445752974,-2.1750803069038938]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_5","position":[-0.07169378965258488,-2.1195847336595532,0.71338606911949],"aabb_xy":[[-0.1566937880700081,-2.204459029121838],[0.013306208764838345,-2.0347104381972683]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_6","position":[-0.3428369181149785,-1.8896920013512606,0.71338606911949],"aabb_xy":[[-0.39281433498023205,-1.9396920028405091],[-0.2928595012497249,-1.839691999862012]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.23023416143860959,0.21641184544635728,0.71338606911949],"aabb_xy":[[-0.2802341617991756,0.1664318582367543],[-0.1802341610780435,0.26639183265596017]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_8","position":[-0.41808606762140055,0.13137548190870785,0.71338606911949],"aabb_xy":[[-0.4293311231920184,0.12013368418461257],[-0.4068410120507827,0.14261727963280313]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_9","position":[0.665472963465652,-2.311956454922011,0.71338606911949],"aabb_xy":[[0.6575496832269037,-2.334456455160015],[0.6733962437044003,-2.289456454684008]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_10","position":[-0.24370419152966172,-2.37036387117245,0.71338606911949],"aabb_xy":[[-0.2787041928811434,-2.390723607129271],[-0.20870419017817995,-2.350004135215629]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_11","position":[-0.13814605858717866,-0.7120398128580714,0.71338606911949],"aabb_xy":[[-0.18091276546659885,-0.7760398162798738],[-0.09537935170775846,-0.6480398094362689]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_12","position":[-0.2361340774552197,1.6168962738588601,0.71338606911949],"aabb_xy":[[-0.2402500275672923,1.6127807188260146],[-0.23201812734314697,1.6210118288917057]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[-0.45118756941526644,1.4912346569199886,0.71338606911949],"aabb_xy":[[-0.4886875697074413,1.487193181519385],[-0.4136875691230917,1.495276132320592]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.17293616952577673,-2.525572517913903,0.71338606911949],"aabb_xy":[[0.08293617302490496,-2.571484160332361],[0.26293616602664843,-2.4796608754954446]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_15","position":[0.40024671288550095,-1.3027546519555626,0.71338606911949],"aabb_xy":[[0.37696487068736956,-1.3877546532527905],[0.42352855508363224,-1.2177546506583343]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[-0.5064312749981927,-0.391045945836888,0.71338606911949],"aabb_xy":[[-0.5120129466323216,-0.40354594565466345],[-0.5008496033640639,-0.37854594601911246]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_17","position":[0.3310034202656251,0.5139082487730646,0.71338606911949],"aabb_xy":[[0.3229771496349992,0.505156753795712],[0.3390296908962512,0.5226597437504172]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_18","position":[-0.6213715356574111,0.7123627543326445,0.71338606911949],"aabb_xy":[[-0.6295860807730949,0.703686164035003],[-0.6131569905417269,0.7210393446302856]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_19","position":[-0.5924721756906315,1.8102776154422524,0.71338606911949],"aabb_xy":[[-0.5964326594603658,1.8026097508567323],[-0.5885116919208971,1.8179454800277735]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_20","position":[0.31747687760971366,1.0525667152748128,0.71338606911949],"aabb_xy":[[0.25247687757541093,1.0058660385944853],[0.3824768776440164,1.09926739195514]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.2061630983635902,1.1915233121213125,0.71338606911949],"aabb_xy":[[-0.21212963730432596,1.1855621674619483],[-0.2001965594228544,1.1974844567806766]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[0.5812036402613725,0.6018455295089029,0.71338606911949],"aabb_xy":[[0.5562036410957393,0.5948932838035463],[0.6062036394270055,0.6087977752142595]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_23","position":[-0.3227520065669228,0.4581462538754755,0.71338606911949],"aabb_xy":[[-0.386752005861091,0.3941601135066212],[-0.25875200727275455,0.5221323942443297]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_24","position":[-0.0785290378440644,-2.4807219977071484,0.71338606911949],"aabb_xy":[[-0.09009801859100097,-2.5057219978240806],[-0.06696005709712782,-2.455721997590217]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_25","position":[0.6529880829844936,1.164979069573854,0.71338606911949],"aabb_xy":[[0.6304889472582667,1.142479068795591],[0.6754872187107206,1.187479070352117]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_26","position":[0.0468258797924922,0.7513678255460796,0.71338606911949],"aabb_xy":[[0.0015472649113429382,0.6873678261978959],[0.09210449467364146,0.8153678248942633]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_27","position":[-0.5679034156001828,-0.48506676845800056,0.71338606911949],"aabb_xy":[[-0.6479034127597579,-0.4966143694158175],[-0.48790341844060736,-0.4735191675001834]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[-0.6382491816697541,0.14757028413374407,0.71338606911949],"aabb_xy":[[-0.6514004276410434,0.12257028437705755],[-0.6250979356984647,0.17257028389043064]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6850575223342169,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7293.png","name":"7293"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7293.png","name":"7293"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5035.png","name":"5035"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1572.png","name":"1572"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/852.png","name":"852"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8261.png","name":"8261"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":790.2022296100695,"rotation_z_degrees":319.6591169560974,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019078608405075442,-0.018680145662842686,-0.007995562208800343]},{"name":"camera_2","offset_m":[0.0035232715837146926,-0.002384161165587876,0.015890479974296896]},{"name":"camera_3","offset_m":[-0.015427786750029822,0.004513347764357207,0.006959726765838246]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011368658124223593,-0.0008561228823554116,0.0009191729434312535],"end_effector_yaw_offset_degrees":-0.8599210714530412},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0007727093992724577,-0.001837442170970506,0.0018285940696366977],"end_effector_yaw_offset_degrees":0.5927145911927794},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010196690387144997,-0.0005100564313466314,-0.0007951568873873888],"end_effector_yaw_offset_degrees":0.7592194454055468},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014465866812107793,0.0012928470194494535,0.0018522570362405756],"end_effector_yaw_offset_degrees":0.36841951787009464},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010938757667178535,-5.56437715018268e-05,-0.00011863498430224112],"end_effector_yaw_offset_degrees":0.23163103396777207},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.995750420272441e-05,0.0015517981701089725,0.0019287950534241727],"end_effector_yaw_offset_degrees":0.7258449266938825}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004963982519952888,-0.0018017617361047122],"position_m":[0.13553601748004712,0.23289823826389527,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0031251416885969335,0.001641699907349089],"position_m":[0.21672514168859694,-0.05205830009265091,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012373709804786425,0.0047971124995606655],"position_m":[0.24786262901952136,-0.37860288750043936,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001985449767355184,0.004323839082844679],"position_m":[0.3516145502326448,0.12152383908284468,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ed13342897210f866c3dd0e30db574ee294dca87af85cb2a4febca44116abb7c","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0092.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7293/tex_ceiling_textures_8261/tex_floor_textures_852/tex_table_textures_5035/tex_wall_textures_1572","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1549648469731557404,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1549648469731557404,"visual_seed":1549648469731557404,"scene_id":"lab_003","finished_at":"2026-09-06T17:46:04"} +{"episode_id":"ep_000091","started_at":"2026-09-06T17:46:11","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_0","position":[-0.12997482259911386,-1.4898038627420145,0.71338606911949],"aabb_xy":[[-0.13759909068929213,-1.4974370862785582],[-0.12235055450893564,-1.4821706392054708]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_1","position":[0.38688020961828706,-1.075139391166688,0.71338606911949],"aabb_xy":[[0.345575666554551,-1.1391393907348049],[0.428184752682023,-1.0111393915985707]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_2","position":[0.19488781686261636,-2.2271713203467933,0.71338606911949],"aabb_xy":[[0.1598878185519209,-2.234886335270339],[0.2298878151733118,-2.2194563054232477]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_3","position":[-0.4587716066099823,-1.147463645744622,0.71338606911949],"aabb_xy":[[-0.5082520278239411,-1.211463643657474],[-0.4092911853960235,-1.0834636478317703]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_4","position":[-0.27758382367261514,-1.0669660848301588,0.71338606911949],"aabb_xy":[[-0.3276812876536887,-1.1309660853399708],[-0.22748635969154146,-1.0029660843203472]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[-0.046858156119870875,-1.4346739199842327,0.71338606911949],"aabb_xy":[[-0.08185815609636671,-1.4441385360318495],[-0.011858156143375036,-1.4252093039366163]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_6","position":[-0.1227117082242899,-2.2742554090304927,0.71338606911949],"aabb_xy":[[-0.14722533232129575,-2.2985200023325287],[-0.09819808412728405,-2.249990815728456]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_7","position":[-0.5677216810618936,0.08347186224941128,0.71338606911949],"aabb_xy":[[-0.5774776705710674,0.07370932819017682],[-0.5579656915527196,0.0932343963086457]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[0.23332703418685463,-0.8783067252060468,0.71338606911949],"aabb_xy":[[0.17820182855726382,-0.9383067266473338],[0.28845223981644535,-0.8183067237647595]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.08290307389290641,-1.8238890065522668,0.71338606911949],"aabb_xy":[[-0.09878756715823155,-1.838241946851091],[-0.06701858062758125,-1.809536066253443]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.4228621756900896,1.250108807617341,0.71338606911949],"aabb_xy":[[-0.4828621759414908,1.1958274825808763],[-0.36286217543868843,1.3043901326538057]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_11","position":[0.629782885376792,0.013320134389450455,0.71338606911949],"aabb_xy":[[0.6146200123998549,-0.0018453229056683029],[0.644945758353729,0.02848559168456922]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_12","position":[-0.5096444603591923,1.6831994427092725,0.71338606911949],"aabb_xy":[[-0.5696444602057591,1.6263808205162336],[-0.4496444605126255,1.740018064902311]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_13","position":[-0.4788534443328921,0.14580920884998116,0.71338606911949],"aabb_xy":[[-0.5026896619734973,0.05580920804149468],[-0.45501722669228717,0.23580920965846766]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_14","position":[0.1368695224565798,-1.2178831857725188,0.71338606911949],"aabb_xy":[[0.1305574229202414,-1.2236501250257377],[0.14318162199291826,-1.2121162465192998]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.5309107695705202,-0.3433381235256818,0.71338606911949],"aabb_xy":[[0.5248161416824019,-0.35190751807735055],[0.5370053974586385,-0.3347687289740131]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_16","position":[0.6142295971493037,1.1186004206846736,0.71338606911949],"aabb_xy":[[0.5542295955063818,1.0666002713927294],[0.6742295987922255,1.1706005699766178]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.10174035216318189,-2.1002831256597982,0.71338606911949],"aabb_xy":[[0.05176705815992143,-2.150283126214345],[0.15171364616644234,-2.0502831251052505]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.02433830435690365,-2.3025822918194168,0.71338606911949],"aabb_xy":[[-0.009958606660836977,-2.3368791780293576],[0.058635215374644264,-2.268285405609475]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_19","position":[0.044441548161873845,1.0939695628829345,0.71338606911949],"aabb_xy":[[-0.01955845388785815,1.0538750797936265],[0.10844155021160584,1.1340640459722424]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.4782717774044405,1.0593263140646219,0.71338606911949],"aabb_xy":[[-0.5482717800410267,1.0392214490687561],[-0.40827177476785403,1.0794311790604871]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_21","position":[-0.4282139121877251,-0.6188927583612205,0.71338606911949],"aabb_xy":[[-0.4732139136539541,-0.6638926152227012],[-0.3832139107214964,-0.5738929014997398]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_22","position":[0.6046873571792355,-1.203463480824758,0.71338606911949],"aabb_xy":[[0.5406873569052573,-1.2535295810220461],[0.6686873574532137,-1.1533973806274702]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_23","position":[-0.6365561765805224,-2.4506375307351176,0.71338606911949],"aabb_xy":[[-0.6715561757733406,-2.4616045767327797],[-0.6015561773877041,-2.4396704847374546]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_24","position":[-0.27330499248204915,-2.0221441564549067,0.71338606911949],"aabb_xy":[[-0.29830499203378763,-2.032286640320041],[-0.24830499293031066,-2.0120016725897716]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6928644328734214,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5099.png","name":"5099"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5099.png","name":"5099"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4891.png","name":"4891"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7211.png","name":"7211"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6306.png","name":"6306"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8633.png","name":"8633"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":844.5775266524322,"rotation_z_degrees":58.83228922603781,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009639964817627847,0.01924375382299399,-0.009790397679514094]},{"name":"camera_2","offset_m":[-0.007779457534482458,-0.019530456075947784,-0.011392295101516688]},{"name":"camera_3","offset_m":[0.01320694144335777,0.0038163250496531555,0.004566419960471423]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013463676418739125,-0.0007724100923962958,0.0017538461359299321],"end_effector_yaw_offset_degrees":-0.3025183549025867},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007405324116906632,-0.000503531139263608,0.001517039878602767],"end_effector_yaw_offset_degrees":0.9269910543556836},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00010756626187299239,0.0012852123851680246,0.0015713415881668043],"end_effector_yaw_offset_degrees":-0.4365030164038852},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001990129630015282,0.000489309310264347,0.0001287303283076034],"end_effector_yaw_offset_degrees":0.9999513951978263},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009178117615270937,0.0012524289114974802,0.0012486351437596258],"end_effector_yaw_offset_degrees":-0.44450845186288457},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000475989227586631,-0.0013705134600743496,0.0007751249705061328],"end_effector_yaw_offset_degrees":0.7473417290747149}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004929129426917913,-0.004549450658132195],"position_m":[0.1355708705730821,0.2301505493418678,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002834869765097197,-0.0007442314723790644],"position_m":[0.2164348697650972,-0.05444423147237906,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00466683087950956,-0.0004238932816443665],"position_m":[0.2537668308795096,-0.3838238932816444,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018583246755745717,-0.0036737464170489885],"position_m":[0.3554583246755746,0.11352625358295101,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e80c61128682418fd57e2a92f8fa22aeb2cba59dd69b29f9a4d09e967c89b23","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0093.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5099/tex_ceiling_textures_8633/tex_floor_textures_6306/tex_table_textures_4891/tex_wall_textures_7211","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5170267553982822913,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5170267553982822913,"visual_seed":5170267553982822913,"scene_id":"lab_003","finished_at":"2026-09-06T17:52:06"} +{"episode_id":"ep_000092","started_at":"2026-09-06T17:52:13","dimensions":{"distractor":{"count":21,"items":[{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_0","position":[0.15180901541707736,1.2681444981997876,0.71338606911949],"aabb_xy":[[0.12680901614511506,1.2517991346036252],[0.17680901468903962,1.28448986179595]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_1","position":[0.18699877839273038,-2.1204517394491726,0.71338606911949],"aabb_xy":[[0.16949877814768097,-2.137951527288739],[0.20449877863777974,-2.1029519516096054]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.056272667530433806,1.443446877280325,0.71338606911949],"aabb_xy":[[-0.12026836492553039,1.3794468789796164],[0.007723029864662778,1.5074468755810337]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.4541343614446134,-1.9138782227890312,0.71338606911949],"aabb_xy":[[0.4338500587212146,-1.9341608479317398],[0.47441866416801215,-1.8935955976463221]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_4","position":[-0.41765344441511987,1.5774567481718917,0.71338606911949],"aabb_xy":[[-0.4551534429907406,1.5647204525083336],[-0.380153445839499,1.5901930438354495]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_5","position":[0.23275685998953866,-1.995659612356609,0.71338606911949],"aabb_xy":[[0.16275685735295228,-2.0157644773524743],[0.302756862626125,-1.975554747360743]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.14565362654433145,0.3219137865339041,0.71338606911949],"aabb_xy":[[-0.15060964672921268,0.2994137863317825],[-0.14069760635945028,0.34441378673602574]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_7","position":[-0.11130178338009022,1.1578574754613995,0.71338606911949],"aabb_xy":[[-0.11834323433083783,1.150830723723605],[-0.10426033242934264,1.164884227199194]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_8","position":[-0.32129321122100324,-1.4652753855957092,0.71338606911949],"aabb_xy":[[-0.33306139801566076,-1.5502753855009312],[-0.3095250244263457,-1.380275385690488]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_9","position":[0.29154463612283943,-2.450292406088183,0.71338606911949],"aabb_xy":[[0.27411392104383286,-2.467564520752033],[0.3089753512018459,-2.4330202914243317]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_10","position":[0.34993635978492144,0.9962667242991365,0.71338606911949],"aabb_xy":[[0.28593635940738776,0.9465214574483243],[0.413936360162455,1.0460119911499488]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_11","position":[-0.19315629551552582,-2.254142889971408,0.71338606911949],"aabb_xy":[[-0.20078056360570407,-2.261776113507952],[-0.18553202742534755,-2.2465096664348647]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.5602226325959812,-1.092992488136402,0.71338606911949],"aabb_xy":[[-0.5762845600544987,-1.1779924899489937],[-0.5441607051374634,-1.00799248632381]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_13","position":[0.15126773528594983,-1.1375374824588793,0.71338606911949],"aabb_xy":[[0.09126773477809692,-1.1943842161448006],[0.21126773579380276,-1.080690748772958]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_14","position":[-0.045098301276111585,1.0442758534035317,0.71338606911949],"aabb_xy":[[-0.06220037923447974,1.0271690478722617],[-0.02799622331774343,1.0613826589348012]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.44512759072095975,1.1753787029627878,0.71338606911949],"aabb_xy":[[-0.46896380836156487,1.0853787021543015],[-0.42129137308035475,1.2653787037712745]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.3165178800639408,0.7305328358189951,0.71338606911949],"aabb_xy":[[-0.3540178815795725,0.71930606280285],[-0.27901787854830906,0.7417596088351401]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[-0.3844922731218953,-2.1156423792172125,0.71338606911949],"aabb_xy":[[-0.39505975277999433,-2.1261874093302215],[-0.3739247934637963,-2.1050973491042044]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_18","position":[-0.31605896764878727,-1.7350345589715785,0.71338606911949],"aabb_xy":[[-0.33494335141729753,-1.7539204837519313],[-0.2971745838802771,-1.7161486341912258]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_19","position":[-0.0017725397267166487,-1.97634297779976,0.71338606911949],"aabb_xy":[[-0.05125296094067544,-2.040342975712612],[0.04770788148724214,-1.9123429798869083]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.008819057424245269,-1.2584493698036952,0.71338606911949],"aabb_xy":[[-0.06381453524490466,-1.3134493712376019],[0.04617642039641412,-1.203449368369788]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6894794718626767,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5466.png","name":"5466"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/37.png","name":"37"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7436.png","name":"7436"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9943.png","name":"9943"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/41.png","name":"41"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":635.3998300673225,"rotation_z_degrees":231.9281703959879,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014845378015749245,-0.00401517015407336,-0.012366246450159952]},{"name":"camera_2","offset_m":[0.008044783088116816,-0.005566504008444623,-0.008216249294659748]},{"name":"camera_3","offset_m":[0.0159461800129168,-0.003680540930866897,-0.0018010086894980487]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016014910106265639,-0.0017858428561601416,0.0010781735965841861],"end_effector_yaw_offset_degrees":0.2957646836822556},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[2.9016551103469915e-05,-0.00024570828876432395,0.00017439744024450813],"end_effector_yaw_offset_degrees":-0.29499382860241075},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011491630529442021,-0.0016930699267915718,-0.001804626965609693],"end_effector_yaw_offset_degrees":-0.860872681207199},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0002695052723986199,0.0012138072987350232,0.0006686413274735463],"end_effector_yaw_offset_degrees":0.6760923840401956},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009843928086739476,-0.000767941378137493,-0.0008226686715023539],"end_effector_yaw_offset_degrees":-0.3689670121774269},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010543763159574183,0.0004931062110294679,-0.0003843975397506596],"end_effector_yaw_offset_degrees":0.30766529852174673}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016506425763465737,-0.00266056169431508],"position_m":[0.13884935742365345,0.2320394383056849,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0014529362695572022,-0.0008054194199441714],"position_m":[0.21214706373044281,-0.05450541941994417,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0011447429978231438,-0.003009603140324806],"position_m":[0.24795525700217685,-0.3864096031403248,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004506518166777477,0.0009485851814906819],"position_m":[0.3581065181667775,0.11814858518149068,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"68c284db80431152cce4224af42c9c330716bb6f8b8f58367c398edb78f40764","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0094.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5466/tex_ceiling_textures_41/tex_floor_textures_9943/tex_table_textures_37/tex_wall_textures_7436","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6160283056863722337,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6160283056863722337,"visual_seed":6160283056863722337,"scene_id":"lab_003","finished_at":"2026-09-06T17:58:29"} +{"episode_id":"ep_000093","started_at":"2026-09-06T17:58:36","dimensions":{"distractor":{"count":23,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[-0.268304368503006,-1.2273022568458942,0.71338606911949],"aabb_xy":[[-0.28819540838334623,-1.239958068130591],[-0.24841332862266574,-1.2146464455611974]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.1843578304508835,0.8022583465255377,0.71338606911949],"aabb_xy":[[0.1343578308745488,0.7522777675734319],[0.23435783002721824,0.8522389254776438]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_2","position":[-0.4656196316013911,-2.18656602447462,0.71338606911949],"aabb_xy":[[-0.47431759389210637,-2.198690998782095],[-0.4569216693106758,-2.1744410501671454]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_3","position":[0.34193955148905064,-1.1103493220279395,0.71338606911949],"aabb_xy":[[0.2779395512150724,-1.1604154222252274],[0.40593955176302887,-1.0602832218306515]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_4","position":[-0.5468032137542712,-0.8240168440464226,0.71338606911949],"aabb_xy":[[-0.5646723215087266,-0.8378497520236335],[-0.5289341059998156,-0.8101839360692117]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_5","position":[0.6801113718559162,-0.12644228206401298,0.71338606911949],"aabb_xy":[[0.6623178649209998,-0.14424202765981065],[0.6979048787908326,-0.10864253646821531]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_6","position":[-0.3095244088550535,-2.5478349985955044,0.71338606911949],"aabb_xy":[[-0.3200918885131525,-2.558380028708513],[-0.2989569291969545,-2.537289968482496]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_7","position":[0.522207872422318,-1.4675520885539401,0.71338606911949],"aabb_xy":[[0.4672078728005722,-1.522535781341413],[0.5772078720440639,-1.4125683957664676]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.4403809590542598,1.0105647015932693,0.71338606911949],"aabb_xy":[[0.4053809599243041,1.004819480517605],[0.47538095818421544,1.0163099226689332]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_9","position":[0.0714229805343779,1.0862364032606378,0.71338606911949],"aabb_xy":[[0.0064229826527301154,1.035112739554097],[0.13642297841602571,1.1373600669671788]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_10","position":[-0.21403752483086497,1.3637153145751264,0.71338606911949],"aabb_xy":[[-0.23146823990987145,1.3464431999112754],[-0.19660680975185843,1.380987429238977]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_11","position":[-0.2249334099597421,-0.2612702914193976,0.71338606911949],"aabb_xy":[[-0.23039135559676213,-0.3412702947270567],[-0.219475464322722,-0.1812702881117385]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[0.5302665720038076,-1.2845701139353352,0.71338606911949],"aabb_xy":[[0.4602665693672211,-1.3046749789312004],[0.6002665746403938,-1.2644652489394694]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_13","position":[0.07688449892628557,1.2344677599251899,0.71338606911949],"aabb_xy":[[0.016884498674884396,1.180186434888725],[0.13688449917768675,1.2887490849616543]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[-0.4752229758520355,0.48426117053925166,0.71338606911949],"aabb_xy":[[-0.5252222510204716,0.4342611692633046],[-0.4252237006835994,0.5342611718151989]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_15","position":[-0.2580577859302926,-1.5162761793017223,0.71338606911949],"aabb_xy":[[-0.32805778234025434,-1.5367141149534036],[-0.18805778952033078,-1.4958382436500401]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.26676723464780816,-2.128393444580609,0.71338606911949],"aabb_xy":[[0.25009009865471266,-2.14509336855454],[0.28344437064090366,-2.1116935206066794]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_17","position":[0.3248542331893589,0.6349451291407404,0.71338606911949],"aabb_xy":[[0.26085423460278645,0.5879381657412317],[0.38885423177593137,0.6819520925402491]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[-0.4584177551116222,-1.7826157178561788,0.71338606911949],"aabb_xy":[[-0.5434177535290454,-1.867490013318464],[-0.373417756694199,-1.697741422393894]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[0.5402639367291606,-0.17529345511263195,0.71338606911949],"aabb_xy":[[0.5027639366235676,-0.18211561696561304],[0.5777639368347535,-0.1684712932596508]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_20","position":[0.32737299112563933,-1.7516784236091139,0.71338606911949],"aabb_xy":[[0.32325704101356667,-1.7557939786419594],[0.331488941237712,-1.7475628685762683]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_21","position":[-0.27243871585281965,1.4663108910156075,0.71338606911949],"aabb_xy":[[-0.27840525479355543,1.4603497463562434],[-0.26647217691208386,1.4722720356749717]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_22","position":[0.0758690585696381,-0.7713672495616251,0.71338606911949],"aabb_xy":[[0.06462400299902027,-0.7826090472857204],[0.08711411414025594,-0.7601254518375299]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.687284292509967,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3403.png","name":"3403"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3403.png","name":"3403"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3528.png","name":"3528"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9881.png","name":"9881"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7689.png","name":"7689"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2106.png","name":"2106"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":651.8311515308559,"rotation_z_degrees":27.186919166686568,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008397055531076184,-0.0028594312855609767,-0.018471052061894637]},{"name":"camera_2","offset_m":[0.00764694074660853,-0.0008452991495308329,0.015988258567417802]},{"name":"camera_3","offset_m":[-0.018725320566627967,0.012165627527725199,0.014178975059083557]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018097960958338736,0.0006007628303182945,-0.0011677235821303845],"end_effector_yaw_offset_degrees":0.9601003049835342},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012259288952469658,-0.0006636548654834575,0.0012896742420230411],"end_effector_yaw_offset_degrees":0.8223239092879044},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005460151437975667,0.0007983174981380354,-0.00144266117777663],"end_effector_yaw_offset_degrees":-0.6131117666042627},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012248189464909459,0.0008722899038442491,-0.0007100699548344615],"end_effector_yaw_offset_degrees":-0.5242521362358583},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016370647465103994,0.00025418582075116157,0.0007315889612600044],"end_effector_yaw_offset_degrees":0.4781718602080376},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00103186724177705,-0.0016955745074992495,-0.0008661818074197042],"end_effector_yaw_offset_degrees":0.0495197359016144}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006252763494709749,0.0040831612577853565],"position_m":[0.141125276349471,0.23878316125778534,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002009344063634058,0.000591380517953195],"position_m":[0.21159065593636595,-0.0531086194820468,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004475053069322787,-0.004004668206329963],"position_m":[0.2446249469306772,-0.38740466820632996,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002489644356408389,0.003782740788364756],"position_m":[0.35608964435640844,0.12098274078836475,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f8bb1156ff27e9a46e7cd70ec4c7f955ef7c4f736ddad2e1c904bbd5af37b949","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0095.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3403/tex_ceiling_textures_2106/tex_floor_textures_7689/tex_table_textures_3528/tex_wall_textures_9881","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":1688507237218030690,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":1688507237218030690,"visual_seed":1688507237218030690,"scene_id":"lab_003","finished_at":"2026-09-06T18:04:39"} +{"episode_id":"ep_000094","started_at":"2026-09-06T18:04:46","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_0","position":[-0.6097862530011173,-0.9033943751666174,0.71338606911949],"aabb_xy":[[-0.6737862494284392,-0.9505639989887138],[-0.5457862565737954,-0.8562247513445209]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.4993641279183545,-0.8953724971735206,0.71338606911949],"aabb_xy":[[0.4707147955579382,-0.9240180564505963],[0.5280134602787707,-0.8667269378964447]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_2","position":[0.403732139982272,0.40230271902316206,0.71338606911949],"aabb_xy":[[0.3694352289645313,0.36800583281322063],[0.43802905100001255,0.43659960523310337]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_3","position":[-0.0389763083312441,0.7043813173290214,0.71338606911949],"aabb_xy":[[-0.07397630660136399,0.6973071896340333],[-0.003976310061124186,0.7114554450240096]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.012113236611857148,0.5557709883009374,0.71338606911949],"aabb_xy":[[-0.02010722518956054,0.5477709082058471],[-0.004119248034153755,0.5637710683960278]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_5","position":[-0.35386763638350505,-0.5171243232765916,0.71338606911949],"aabb_xy":[[-0.38171267316411217,-0.5479088220149034],[-0.3260225996028979,-0.48633982453828006]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.42995034172089097,-0.5679718546047496,0.71338606911949],"aabb_xy":[[0.4167193961862097,-0.581199273626749],[0.44318128725557226,-0.5547444355827501]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.2184504799000423,1.178668149570417,0.71338606911949],"aabb_xy":[[0.19516863770191095,1.0936681482731887],[0.24173232209817364,1.2636681508676448]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_8","position":[0.591811812106797,0.789265140489205,0.71338606911949],"aabb_xy":[[0.5278118118328188,0.7391990402919172],[0.6558118123807752,0.8393312406864931]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_9","position":[-0.34739875644298185,-1.244786490220471,0.71338606911949],"aabb_xy":[[-0.3591669432376394,-1.3297864901256926],[-0.3356305696483244,-1.1597864903152495]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[0.07965040965360892,0.8281736876285115,0.71338606911949],"aabb_xy":[[0.06076602588509872,0.8092877628481587],[0.09853479342211913,0.8470596124088643]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.6136908540539,-1.1535603300700235,0.71338606911949],"aabb_xy":[[-0.6481532014520416,-1.1880542124678457],[-0.579228506655758,-1.1190664476722003]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[-0.5453012799828213,1.5423124685033662,0.71338606911949],"aabb_xy":[[-0.5715901043032618,1.516041034848715],[-0.5190124556623805,1.5685839021580175]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_13","position":[-0.020388398194831847,-2.1905160744527254,0.71338606911949],"aabb_xy":[[-0.026890034702836466,-2.2002838964790357],[-0.013886761686827231,-2.180748252426416]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[-0.022733025302074883,-2.095154213675863,0.71338606911949],"aabb_xy":[[-0.028070600968079455,-2.1201542146050034],[-0.01739544963607032,-2.070154212746724]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.5292359634102956,-2.4602908146311533,0.71338606911949],"aabb_xy":[[-0.599235965012575,-2.473723607832811],[-0.45923596180801607,-2.4468580214294957]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_16","position":[0.4700561829425214,-1.630635790702001,0.71338606911949],"aabb_xy":[[0.4659402328304487,-1.6347513457348464],[0.47417213305459405,-1.6265202356691553]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_17","position":[-0.14264035704436884,0.8722662225666888,0.71338606911949],"aabb_xy":[[-0.19264035799490162,0.8407170755631673],[-0.092640356093836,0.9038153695702101]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_18","position":[-0.3654573927504812,-0.27030370169002493,0.71338606911949],"aabb_xy":[[-0.41545666791891744,-0.3203037029659721],[-0.3154581175820451,-0.22030370041407776]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_19","position":[-0.37306838766950756,0.6176732458600349,0.71338606911949],"aabb_xy":[[-0.4580683863615822,0.5856873824651562],[-0.2880683889774329,0.6496591092549139]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_20","position":[-0.6642307584742406,-1.5105710160834331,0.71338606911949],"aabb_xy":[[-0.6864032854508915,-1.532746683239556],[-0.6420582314975898,-1.4883953489273096]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_21","position":[-0.5492521431222751,-2.295543652309876,0.71338606911949],"aabb_xy":[[-0.566830445311222,-2.313118141883981],[-0.5316738409333283,-2.2779691627357708]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6944037175414632,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/245.png","name":"245"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/245.png","name":"245"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3193.png","name":"3193"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1917.png","name":"1917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1777.png","name":"1777"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9947.png","name":"9947"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":746.3613623172524,"rotation_z_degrees":172.09069040418345,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006096587806777992,0.006388303386263852,0.00689304005020229]},{"name":"camera_2","offset_m":[-0.004561326896260889,-0.008081986034755824,-0.0011137298344471996]},{"name":"camera_3","offset_m":[-0.014248381854583526,0.018324389796072132,-0.006575069829366896]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00023619297162835425,-0.0008768553456407818,-0.00011383736631879289],"end_effector_yaw_offset_degrees":0.8235627028797992},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00017378076391659828,-0.0011242905436410155,-0.0008807363325963476],"end_effector_yaw_offset_degrees":0.0031949176397487733},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010967434404998322,0.0017134891124119867,0.00035015614078977124],"end_effector_yaw_offset_degrees":0.20192696856838044},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00026714699800884614,0.0004115075094080476,-1.3416725615587616e-05],"end_effector_yaw_offset_degrees":-0.24872762538767468},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001566167550261254,-0.0013206975267504258,0.0002692308088648003],"end_effector_yaw_offset_degrees":0.9491783508513572},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001983144324165859,-0.0013640055342636842,0.0006965424167563786],"end_effector_yaw_offset_degrees":0.1231459473138039}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001311129380495556,0.00046185022949825523],"position_m":[0.13918887061950447,0.23516185022949826,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005691390133832205,-0.00263936181505976],"position_m":[0.2130308609866168,-0.05633936181505976,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003840171980306897,-0.004426148138348945],"position_m":[0.2529401719803069,-0.387826148138349,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002994029879406681,-0.003745438391529161],"position_m":[0.35060597012059336,0.11345456160847084,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec6bec37888bad32f15c2bfcf5349c0ed4a45d33dbdfa20dffb3f87d4d66555b","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0096.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_245/tex_ceiling_textures_9947/tex_floor_textures_1777/tex_table_textures_3193/tex_wall_textures_1917","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":7338826068991469566,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":7338826068991469566,"visual_seed":7338826068991469566,"scene_id":"lab_003","finished_at":"2026-09-06T18:10:45"} +{"episode_id":"ep_000095","started_at":"2026-09-06T18:10:51","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_0","position":[-0.2104214195653773,-1.6908910746049586,0.71338606911949],"aabb_xy":[[-0.24691724019265604,-1.7273750170317164],[-0.17392559893809856,-1.6544071321782012]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_1","position":[-0.23368810881631696,0.3889446144867721,0.71338606911949],"aabb_xy":[[-0.2431055833861797,0.379528437349053],[-0.22427063424645421,0.39836079162449106]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.3450197768662475,-1.8908761787544934,0.71338606911949],"aabb_xy":[[0.33709649662749924,-1.9133761789924968],[0.3529430571049959,-1.86837617851649]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_3","position":[-0.2183777986199283,1.720297677317315,0.71338606911949],"aabb_xy":[[-0.24289142271693415,1.6960330840152786],[-0.19386417452292243,1.7445622706193515]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_4","position":[-0.13470223028150985,1.5366498442806393,0.71338606911949],"aabb_xy":[[-0.14003980594751442,1.5116498433514998],[-0.12936465461550528,1.5616498452097793]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_5","position":[0.24784735334726715,-1.3690191880555354,0.71338606911949],"aabb_xy":[[0.23178542588874954,-1.4540191898681272],[0.2639092808057848,-1.2840191862429435]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[-0.655643872698557,1.546974083723336,0.71338606911949],"aabb_xy":[[-0.6906438709686769,1.5398999560283477],[-0.620643874428437,1.554048211418324]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[0.3049021161619686,0.7025061795623153,0.71338606911949],"aabb_xy":[[0.29243475805223296,0.6900408549289918],[0.31736947427170425,0.7149715041956388]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_8","position":[0.6514910593365524,-2.477016440051445,0.71338606911949],"aabb_xy":[[0.5964910597148065,-2.532000132838918],[0.7064910589582982,-2.4220327472639727]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_9","position":[-0.5243990338243989,-1.4321045996912674,0.71338606911949],"aabb_xy":[[-0.5292983261309624,-1.459781518993836],[-0.5194997415178354,-1.4044276803886984]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.6797972112862908,0.004547757001008623,0.71338606911949],"aabb_xy":[[-0.6884951735770061,-0.007577217306466102],[-0.6710992489955755,0.01667273130848335]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_11","position":[-0.34423858077920816,-0.2774985860385786,0.71338606911949],"aabb_xy":[[-0.37420613768903377,-0.3074985863364643],[-0.31427102386938244,-0.24749858574069283]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_12","position":[0.3469471927239418,1.4971282371465349,0.71338606911949],"aabb_xy":[[0.32944719247889237,1.4796284493069678],[0.36444719296899114,1.5146280249861015]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_13","position":[0.10464813416068874,-0.898645038636936,0.71338606911949],"aabb_xy":[[0.0890923647504235,-0.9141954718813433],[0.12020390357095403,-0.8830946053925289]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.5984788424097192,1.6713214845954174,0.71338606911949],"aabb_xy":[[-0.62065136938637,1.6491458174392941],[-0.5763063154330683,1.6934971517515403]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_15","position":[-0.21338161934900784,-1.0784701151726426,0.71338606911949],"aabb_xy":[[-0.22661256488368914,-1.0916975341946418],[-0.20015067381432655,-1.065242696150643]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_16","position":[0.17454384636394682,-1.7910318855792209,0.71338606911949],"aabb_xy":[[0.16318211171066063,-1.8024003519855087],[0.18590558101723295,-1.7796634191729326]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_17","position":[-0.5065181389650462,-0.8104351559987015,0.71338606911949],"aabb_xy":[[-0.5415181372757416,-0.8181501709222473],[-0.4715181406543507,-0.802720141075156]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_18","position":[0.3909977545227459,1.7201356376543973,0.71338606911949],"aabb_xy":[[0.37349775426340925,1.7060440954656249],[0.40849775478208256,1.73422717984317]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_19","position":[0.49967813646647885,-0.18678333825781435,0.71338606911949],"aabb_xy":[[0.47961972485323856,-0.2068484251669719],[0.5197365480797191,-0.16671825134865684]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.3717688674903064,0.5228882588722024,0.71338606911949],"aabb_xy":[[-0.38610329261646986,0.5108280433176635],[-0.35743444236414296,0.5349484744267412]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_21","position":[-0.3884012174990109,-1.1924657001724732,0.71338606911949],"aabb_xy":[[-0.4059012167770978,-1.209803800238819],[-0.37090121822092403,-1.175127600106127]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[0.5206106431517576,0.17199194281541663,0.71338606911949],"aabb_xy":[[0.456610640808956,0.1270510915712841],[0.5846106454945591,0.2169327940595491]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_23","position":[0.4211040845193361,-2.3422576658417325,0.71338606911949],"aabb_xy":[[0.3571040824696041,-2.38235214893104],[0.4851040865690681,-2.302163182752424]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_24","position":[-0.20849297609520423,-0.3754091352696154,0.71338606911949],"aabb_xy":[[-0.25848608820439617,-0.4254091359438111],[-0.15849986398601237,-0.32540913459541976]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_25","position":[0.03400952534109769,-0.9249661226114372,0.71338606911949],"aabb_xy":[[0.0193661197870647,-0.9396248422682214],[0.04865293089513067,-0.910307402954653]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_26","position":[-0.46799213134277007,-1.7716602879375878,0.71338606911949],"aabb_xy":[[-0.5319921284548758,-1.8206926577319986],[-0.4039921342306644,-1.7226279181431774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889451396389178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7795.png","name":"7795"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7795.png","name":"7795"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7029.png","name":"7029"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/21.png","name":"21"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/13.png","name":"13"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4118.png","name":"4118"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":662.1812200080046,"rotation_z_degrees":204.3844328468612,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017628554914672186,0.011535580357196113,-0.0026382866542176975]},{"name":"camera_2","offset_m":[0.0037921936508261214,0.0013060493843571087,-0.0181220102704782]},{"name":"camera_3","offset_m":[0.004674806718369156,0.018978591684621734,-0.0014176420642866457]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012093541537421166,-0.0019024825191685983,0.0017529469905566736],"end_effector_yaw_offset_degrees":-0.3090417038838109},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007777416596737767,-0.0018441567798628494,-0.0011767660411404646],"end_effector_yaw_offset_degrees":0.02466316637147048},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001944285534576067,-0.00192333889000292,8.070451972006691e-05],"end_effector_yaw_offset_degrees":0.9715637651894071},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013506544322576166,-0.0011864661147693396,0.0008975615125822868],"end_effector_yaw_offset_degrees":-0.8789138593030692},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010994899883700776,-0.001893295643350704,-0.0004972093312054127],"end_effector_yaw_offset_degrees":-0.36853030781333707},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007497534696216412,0.0018883651758725764,-0.00101603962138005],"end_effector_yaw_offset_degrees":0.8830688922419385}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022044686547629546,0.00207379656967842],"position_m":[0.13829553134523706,0.23677379656967842,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024156299237611213,-9.10152543735299e-05],"position_m":[0.2111843700762389,-0.05379101525437353,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0003273939376191859,0.00013444165017286944],"position_m":[0.24942739393761917,-0.3832655583498272,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007169165615249721,0.004911574073498321],"position_m":[0.3528830834384751,0.12211157407349832,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"31228dfba5f6ecbf8a62ca98c0b2dcbe7def3559184333aecbaea1442aa95ec0","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0097.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7795/tex_ceiling_textures_4118/tex_floor_textures_13/tex_table_textures_7029/tex_wall_textures_21","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":932995401705264360,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":932995401705264360,"visual_seed":932995401705264360,"scene_id":"lab_003","finished_at":"2026-09-06T18:16:44"} +{"episode_id":"ep_000096","started_at":"2026-09-06T18:16:49","dimensions":{"distractor":{"count":35,"items":[{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_0","position":[-0.4211618806555974,1.1403988204246231,0.71338606911949],"aabb_xy":[[-0.45616187892571725,1.1333246927296348],[-0.38616188238547744,1.147472948119611]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_1","position":[0.49264431938213993,-0.7999736089454546,0.71338606911949],"aabb_xy":[[0.4744384957208923,-0.8109990095274462],[0.5108501430433876,-0.7889482083634629]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[0.16507126900858482,0.6961511122201034,0.71338606911949],"aabb_xy":[[0.10107127258126294,0.648981488398007],[0.22907126543590675,0.7433207360421998]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_3","position":[0.6758210390791191,-1.0957752988829075,0.71338606911949],"aabb_xy":[[0.6383210391353527,-1.104068388917744],[0.7133210390228855,-1.087482208848071]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_4","position":[-0.4404977371996335,1.5699925050526908,0.71338606911949],"aabb_xy":[[-0.4484917257773368,1.5619924249576003],[-0.43250374862193003,1.577992585147781]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_5","position":[0.24751005920466662,0.8640496853927182,0.71338606911949],"aabb_xy":[[0.23195428979440139,0.8484992521483112],[0.2630658286149319,0.8796001186371256]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_6","position":[-0.5776325229943441,1.4487789314879653,0.71338606911949],"aabb_xy":[[-0.6676325194952157,1.402867289069507],[-0.4876325264934723,1.4946905739064236]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_7","position":[-0.2785074505344359,-0.7528388821653733,0.71338606911949],"aabb_xy":[[-0.35850744912175525,-0.8321544841035342],[-0.19850745194711641,-0.6735232802272124]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[0.4836837447252471,0.2760278898479127,0.71338606911949],"aabb_xy":[[0.3986837463078239,0.19115359438562773],[0.5686837431426703,0.3609021853101977]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.5996660838443115,-0.3397645246245129,0.71338606911949],"aabb_xy":[[0.5793817811209127,-0.3600471497672217],[0.6199503865677102,-0.319481899481804]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_10","position":[0.6675803417008337,-0.49517394640521006,0.71338606911949],"aabb_xy":[[0.6325803425080153,-0.5061409924028726],[0.7025803408936518,-0.4842069004075473]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.30992936450684766,-1.268126043051902,0.71338606911949],"aabb_xy":[[-0.32693946179689826,-1.2842605315501758],[-0.29291926721679695,-1.251991554553628]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_12","position":[0.5423455201663943,0.5113998640459312,0.71338606911949],"aabb_xy":[[0.5247672179774473,0.4938253744718263],[0.559923822355341,0.5289743536200361]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.5844937263447513,-1.9372348112446949,0.71338606911949],"aabb_xy":[[-0.5898262409993642,-1.9425591394899302],[-0.5791612116901383,-1.9319104829994591]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[-0.5779723906375771,0.6705118229976379,0.71338606911949],"aabb_xy":[[-0.6279723900777727,0.6205438985133215],[-0.5279723911973815,0.7204797474819541]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.5192692038519048,-0.5862440571078853,0.71338606911949],"aabb_xy":[[-0.5832692030216746,-0.6330107442268478],[-0.4552692046821348,-0.5394773699889228]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.22402496049035292,-0.08908648554654297,0.71338606911949],"aabb_xy":[[-0.2366276596274294,-0.10168188177140847],[-0.2114222613532765,-0.07649108932167747]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_17","position":[-0.5262217357644923,-0.30088546794193194,0.71338606911949],"aabb_xy":[[-0.5902217330501409,-0.34239218689477596],[-0.4622217384788436,-0.259378748989088]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_18","position":[0.6200436413386452,-2.1379887572640097,0.71338606911949],"aabb_xy":[[0.6144619697045164,-2.150488757081785],[0.625625312972774,-2.1254887574462344]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_19","position":[-0.11962378989162425,-1.8663111850527887,0.71338606911949],"aabb_xy":[[-0.15712378999721718,-1.8731333469057696],[-0.08212378978603128,-1.8594890231998074]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_20","position":[-0.6464513766608131,1.6146136478051951,0.71338606911949],"aabb_xy":[[-0.6839513773253918,1.5989265898049727],[-0.6089513759962344,1.630300705805417]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_21","position":[-0.050737515484014284,-1.5081406608515278,0.71338606911949],"aabb_xy":[[-0.07264619762336533,-1.5300413276716185],[-0.02882883334466324,-1.486239994031437]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_22","position":[-0.6620619166864021,-1.9951829342939427,0.71338606911949],"aabb_xy":[[-0.6794926317654085,-2.0124550489577926],[-0.6446312016073955,-1.9779108196300914]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_23","position":[0.25103773914358796,-0.8903277917594754,0.71338606911949],"aabb_xy":[[0.24453610263558334,-0.9000956137857853],[0.2575393756515926,-0.8805599697331657]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_24","position":[-0.026202823737173975,-1.3160715553248952,0.71338606911949],"aabb_xy":[[-0.03964935037121731,-1.3295414069779863],[-0.012756297103130643,-1.302601703671804]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_25","position":[-0.34024251484935103,1.7954285286679803,0.71338606911949],"aabb_xy":[[-0.355344816310369,1.780327007036918],[-0.3251402133883328,1.8105300502990418]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_26","position":[0.14794936958610472,-1.6335714238022732,0.71338606911949],"aabb_xy":[[0.11447020232506377,-1.6670505371733801],[0.18142853684714566,-1.6000923104311662]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_27","position":[0.6812001240044556,-2.106621531885253,0.71338606911949],"aabb_xy":[[0.6687327658947199,-2.1190868565185768],[0.6936674821141912,-2.0941562072519297]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_28","position":[-0.6291203914175733,-2.158591794935805,0.71338606911949],"aabb_xy":[[-0.6365328469589617,-2.164443005357433],[-0.6217079358761848,-2.152740584514177]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_29","position":[0.06500255095691121,-1.858593139057402,0.71338606911949],"aabb_xy":[[0.022235844077491018,-1.9225931424792047],[0.1077692578363314,-1.7945931356355997]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_30","position":[-0.5258662320168009,1.7043984859434045,0.71338606911949],"aabb_xy":[[-0.5459246436300412,1.684333399034247],[-0.5058078204035606,1.724463572852562]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_31","position":[-0.20309062254548338,1.484938981206175,0.71338606911949],"aabb_xy":[[-0.2580828731809943,1.4299389794628623],[-0.14809837190997244,1.539938982949488]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_32","position":[-0.3630674903284797,-2.0576605707019984,0.71338606911949],"aabb_xy":[[-0.42706749173647035,-2.109449522225923],[-0.299067488920489,-2.0058716191780737]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_33","position":[-0.38841163849082755,-1.6753588171433291,0.71338606911949],"aabb_xy":[[-0.39931741457839026,-1.7553588135421583],[-0.37750586240326484,-1.5953588207445]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_34","position":[-0.028528755147133378,0.6316842946385601,0.71338606911949],"aabb_xy":[[-0.03938036139600898,0.620825003910909],[-0.017677148898257777,0.642543585366211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6860241524308756,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1041.png","name":"1041"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5023.png","name":"5023"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1073.png","name":"1073"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7669.png","name":"7669"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5411.png","name":"5411"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":623.4915842740398,"rotation_z_degrees":218.30032477279929,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.009395134975618311,0.017483638259521952,-0.018446194657544955]},{"name":"camera_2","offset_m":[-0.016266819835600674,-0.006441523223769039,0.0024610399912539417]},{"name":"camera_3","offset_m":[0.014121051234425901,-0.006212961615535716,0.017987868062721468]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001267426440235595,-0.00049617939043599,0.0018634666916579386],"end_effector_yaw_offset_degrees":-0.8094873377618821},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001053857367056653,0.0009724276122435854,0.000429347924894438],"end_effector_yaw_offset_degrees":0.988938183940504},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010692508463709279,-0.0004959287118774679,-0.00019513630371510477],"end_effector_yaw_offset_degrees":-0.441143773222203},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004770815665595665,0.0011259594674980639,0.0009466891631815999],"end_effector_yaw_offset_degrees":0.6265683102670636},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00022497846545928377,-0.0008625395867600148,-0.0004128500218544891],"end_effector_yaw_offset_degrees":-0.4329546593580922},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.072406275291803e-05,-0.0006225101274450987,0.0014671956845221873],"end_effector_yaw_offset_degrees":0.9561144290912733}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004374750562881918,-0.00023877723310822187],"position_m":[0.1361252494371181,0.23446122276689177,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0024178469198263474,0.0025487640085466202],"position_m":[0.21601784691982637,-0.05115123599145338,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0003828998002553038,0.004336606325988787],"position_m":[0.2487171001997447,-0.3790633936740112,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0006776552979351229,0.003874931323906602],"position_m":[0.3529223447020649,0.1210749313239066,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ff750c8fa9465ef8e9af0ffc5e919738887a6ee5e0283dfea64adc7abeb3aac3","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0098.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_1041/tex_ceiling_textures_5411/tex_floor_textures_7669/tex_table_textures_5023/tex_wall_textures_1073","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":6150403799205806676,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":6150403799205806676,"visual_seed":6150403799205806676,"scene_id":"lab_003","finished_at":"2026-09-06T18:22:50"} +{"episode_id":"ep_000097","started_at":"2026-09-06T18:22:55","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.44131981289974664,1.1540741372249164,0.71338606911949],"aabb_xy":[[0.43075233324164763,1.1435291071119078],[0.45188729255784565,1.164619167337925]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[-0.08542267178906582,0.6428493296617477,0.71338606911949],"aabb_xy":[[-0.1264406151754367,0.5928493290307905],[-0.044404728402694923,0.6928493302927051]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_2","position":[-0.24647539975915012,-1.1465643957336233,0.71338606911949],"aabb_xy":[[-0.25371916580539544,-1.2265643939372257],[-0.23923163371290482,-1.066564397530021]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.1786558578977634,-0.3669898397312168,0.71338606911949],"aabb_xy":[[-0.19112321600749904,-0.37945516436454035],[-0.16618849978802774,-0.35452451509789334]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.6163866223964829,-0.3278503221877451,0.71338606911949],"aabb_xy":[[-0.6763866240394049,-0.3798504714796893],[-0.5563866207535612,-0.27585017289580094]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[0.41358295246795085,-1.1220129505539922,0.71338606911949],"aabb_xy":[[0.39615223738894423,-1.1392850652178426],[0.43101366754695725,-1.104740835890141]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_6","position":[-0.4100722534385388,-2.282531321180007,0.71338606911949],"aabb_xy":[[-0.41610926643920365,-2.288558022248955],[-0.4040352404378742,-2.276504620111059]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_7","position":[-0.3156547074192538,0.9797339935992913,0.71338606911949],"aabb_xy":[[-0.3481164083011812,0.9496011614843884],[-0.28319300653732626,1.0098668257141936]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_8","position":[-0.10066049765631924,1.7572697762428908,0.71338606911949],"aabb_xy":[[-0.13065216039018956,1.7272697769060903],[-0.0706688349224489,1.7872697755796914]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_9","position":[-0.5937603609354061,0.4153849510989742,0.71338606911949],"aabb_xy":[[-0.6112602943693894,0.3978849511787397],[-0.5762604275014227,0.43288495101920876]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.22531785939644244,0.6224169158005348,0.71338606911949],"aabb_xy":[[-0.27531287035589447,0.5724169167649432],[-0.17532284843699042,0.6724169148361266]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[-0.5084717158902395,0.6011696353102169,0.71338606911949],"aabb_xy":[[-0.5459717161824144,0.5971281599096133],[-0.4709717155980647,0.6052111107108206]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[-0.08302055925178797,-1.3490392827040225,0.71338606911949],"aabb_xy":[[-0.16302055790867398,-1.3635441416282854],[-0.0030205605949019665,-1.33453442377976]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_13","position":[-0.5569158183001516,1.433270165182869,0.71338606911949],"aabb_xy":[[-0.5615509334523847,1.4294028301057202],[-0.552280703147918,1.4371375002600177]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_14","position":[0.1934910672630159,-2.4055466289012477,0.71338606911949],"aabb_xy":[[0.10349107052740564,-2.4587300922185418],[0.28349106399862606,-2.3523631655839528]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_15","position":[-0.3887640813326483,0.30952743250424186,0.71338606911949],"aabb_xy":[[-0.43876335650108444,0.25952743122829475],[-0.3387648061642121,0.3595274337801891]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_16","position":[0.07808138355403016,-1.5941696493456603,0.71338606911949],"aabb_xy":[[0.028198686676333955,-1.644169648591935],[0.12796408043172636,-1.5441696500993856]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_17","position":[0.17324689980227448,-1.0511999480677625,0.71338606911949],"aabb_xy":[[0.08952467430219202,-1.1411999516024585],[0.25696912530235694,-0.9611999445330666]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.027196080623414942,-2.0136437514809113,0.71338606911949],"aabb_xy":[[-0.035309735296792044,-2.0217495679349407],[-0.019082425950037837,-2.005537935026882]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_19","position":[0.1609025089517715,-2.2577896349579563,0.71338606911949],"aabb_xy":[[0.11090939684257961,-2.3077896356321523],[0.2108956210609634,-2.207789634283761]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_20","position":[0.2411471305772046,1.6218887013747918,0.71338606911949],"aabb_xy":[[0.20614713230708467,1.6148145736798034],[0.2761471288473245,1.6289628290697797]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_21","position":[-0.6398586848910433,1.7731366758099525,0.71338606911949],"aabb_xy":[[-0.6439746350031158,1.769021120777107],[-0.6357427347789705,1.777252230842798]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_22","position":[-0.11795471652393175,-1.6165477963669421,0.71338606911949],"aabb_xy":[[-0.1554547149473321,-1.6297120103347726],[-0.08045471810053138,-1.6033835823991116]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.5699834417803661,-2.5163327983475816,0.71338606911949],"aabb_xy":[[-0.659983441198737,-2.549708295191771],[-0.4799834423619952,-2.4829573015033914]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_24","position":[0.39606552789137006,-1.4940513458319225,0.71338606911949],"aabb_xy":[[0.35856552794760366,-1.502344435866759],[0.43356552783513647,-1.4857582557970859]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_25","position":[-0.6657884325956622,0.014184344808950033,0.71338606911949],"aabb_xy":[[-0.6766942086832249,-0.06581565158987912],[-0.6548826565080995,0.09418434120777919]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_26","position":[-0.038867739237036014,1.2679187334027695,0.71338606911949],"aabb_xy":[[-0.048027618180912605,1.2613875153592324],[-0.02970786029315941,1.2744499514463066]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6889029373347609,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5725.png","name":"5725"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5725.png","name":"5725"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9215.png","name":"9215"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1409.png","name":"1409"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2376.png","name":"2376"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7929.png","name":"7929"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":811.1448068944468,"rotation_z_degrees":179.03079101023968,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.016171062604504703,-0.0017768528648848952,-0.01767966849526143]},{"name":"camera_2","offset_m":[-0.001588194216132096,-0.009422075116434647,-0.0161068332604753]},{"name":"camera_3","offset_m":[0.012971109769551206,0.013530817849107434,-0.0014919918356149607]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016071610441893195,0.001039314192369258,-0.0019793833344216452],"end_effector_yaw_offset_degrees":-0.9406170182764557},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010322540663829398,-0.0016250161332132277,-0.00017964184342031766],"end_effector_yaw_offset_degrees":-0.2519283895200739},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010381288617874042,9.160577425397628e-05,0.0005324579442794195],"end_effector_yaw_offset_degrees":0.31296456333512235},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008871508962600984,0.001996205213294528,-0.0013065340452291102],"end_effector_yaw_offset_degrees":0.913025899209714},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001388783407237977,0.00023151406090847568,0.0001267297347127094],"end_effector_yaw_offset_degrees":-0.38386542469063323},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006099953009047088,-0.0016350384469995354,2.411609991813564e-05],"end_effector_yaw_offset_degrees":0.3143070202568621}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000898649027712051,0.004580170107626242],"position_m":[0.13960135097228796,0.23928017010762623,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0002150959104930449,-0.0007532108623502553],"position_m":[0.21381509591049305,-0.054453210862350256,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0016774588835598869,-0.0027680966734925172],"position_m":[0.2474225411164401,-0.38616809667349256,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002929292626151437,-0.001827451564404955],"position_m":[0.35652929262615146,0.11537254843559504,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"22ce1d7a2d70dc25e7feab3a1f03a51374b9abb6f48333e37a9d204b8e5beaf9","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0099.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5725/tex_ceiling_textures_7929/tex_floor_textures_2376/tex_table_textures_9215/tex_wall_textures_1409","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":5554640567251529333,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":5554640567251529333,"visual_seed":5554640567251529333,"scene_id":"lab_003","finished_at":"2026-09-06T18:29:00"} +{"episode_id":"ep_000098","started_at":"2026-09-06T18:29:05","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_0","position":[0.21761412695756754,-0.8766777049431351,0.71338606911949],"aabb_xy":[[0.20011412669823095,-0.890769247131908],[0.2351141272169042,-0.8625861627543627]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_1","position":[0.006051495871311374,-0.9123188835285172,0.71338606911949],"aabb_xy":[[-0.011817611883144119,-0.9261517915057281],[0.023920603625766867,-0.8984859755513063]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_2","position":[0.360548213871559,-1.1067692390168238,0.71338606911949],"aabb_xy":[[0.2965482145773908,-1.1707553793856782],[0.4245482131657272,-1.0427830986479698]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_3","position":[-0.621702513484437,1.7866477288655447,0.71338606911949],"aabb_xy":[[-0.6516700703942627,1.7566477285676587],[-0.5917349565746114,1.8166477291634302]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_4","position":[0.5066197078873151,-1.790922073691404,0.71338606911949],"aabb_xy":[[0.46911970807028147,-1.7955602850025458],[0.5441197077043486,-1.7862838623802622]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_5","position":[0.22267835268562186,-1.8938444761178546,0.71338606911949],"aabb_xy":[[0.21211087302752288,-1.9043895062308627],[0.2332458323437209,-1.8832994460048456]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.6051025662145351,-1.6294979123592044,0.71338606911949],"aabb_xy":[[0.5351025646122556,-1.642930705560862],[0.6751025678168145,-1.6160651191575468]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.24651457742563254,-0.8092395441217863,0.71338606911949],"aabb_xy":[[0.21151457823281422,-0.820206590119449],[0.28151457661845075,-0.7982724981241237]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.22317094944187366,-0.34541828091283566,0.71338606911949],"aabb_xy":[[-0.23401142766838856,-0.36260456220348447],[-0.21233047121535875,-0.32823199962218685]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_9","position":[-0.04724321725708425,1.3916328765025052,0.71338606911949],"aabb_xy":[[-0.056660691826946996,1.382216699364786],[-0.0378257426872215,1.401049053640224]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[-0.6212124601161548,-0.6123121331947086,0.71338606911949],"aabb_xy":[[-0.634084363617095,-0.6923121336085446],[-0.6083405566152147,-0.5323121327808723]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_11","position":[0.5895246840467332,0.645133906058164,0.71338606911949],"aabb_xy":[[0.5676349364577924,0.5551339087689149],[0.611414431635674,0.7351339033474131]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_12","position":[-0.09455716124248359,-2.0828184599782786,0.71338606911949],"aabb_xy":[[-0.174557158646077,-2.162811031176461],[-0.014557163838890162,-2.0028258887800954]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_13","position":[0.27865513033088374,1.487469510722383,0.71338606911949],"aabb_xy":[[0.26678304731938257,1.4024695110287322],[0.2905272133423848,1.572469510416033]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_14","position":[0.3718544017975425,-1.6012130552166028,0.71338606911949],"aabb_xy":[[0.31685440262095294,-1.6562027299915603],[0.4268544009741319,-1.546223380441645]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_15","position":[0.019345054958096353,-2.2760899318147527,0.71338606911949],"aabb_xy":[[-0.04565494614784693,-2.301055304882881],[0.08434505606403964,-2.2511245587466244]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_16","position":[0.4923852573762768,-1.9343260831446636,0.71338606911949],"aabb_xy":[[0.48680358574214805,-1.946826082962439],[0.49796692901040557,-1.921826083326888]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_17","position":[0.1412270755366315,1.7228315923250022,0.71338606911949],"aabb_xy":[[0.09342090792286283,1.6578315896179427],[0.1890332431504001,1.7878315950320607]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_18","position":[-0.3398815161054086,-1.708342843532607,0.71338606911949],"aabb_xy":[[-0.3898815177669034,-1.7583412857883096],[-0.28988151444391386,-1.6583444012769042]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_19","position":[0.3660127867548735,1.2336513561582025,0.71338606911949],"aabb_xy":[[0.30838231786760256,1.1736513572314917],[0.4236432556421442,1.293651355084913]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_20","position":[-0.3751320470357841,-1.0250355113635505,0.71338606911949],"aabb_xy":[[-0.4251270579952362,-1.0750355103991425],[-0.3251370360763321,-0.975035512327959]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_21","position":[-0.5513774388206258,1.233992112401419,0.71338606911949],"aabb_xy":[[-0.6213774422121878,1.1986763386979882],[-0.4813774354290639,1.26930788610485]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[0.1416414217219042,-1.4168826032920565,0.71338606911949],"aabb_xy":[[0.12275703795339402,-1.4357685280724093],[0.16052580549041442,-1.3979966785117037]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_23","position":[-0.27026238847911627,1.4291428129067172,0.71338606911949],"aabb_xy":[[-0.3502623917431294,1.4155827805978038],[-0.19026238521510314,1.4427028452156305]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_24","position":[-0.4705631566631141,0.23878820324839412,0.71338606911949],"aabb_xy":[[-0.560563155257584,0.2225376169349731],[-0.3805631580686442,0.25503878956181514]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_25","position":[0.12781459090086722,1.1151479996750489,0.71338606911949],"aabb_xy":[[0.11773288382229372,1.035148001782934],[0.13789629797944067,1.1951479975671633]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6893273061348362,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7312.png","name":"7312"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4164.png","name":"4164"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2715.png","name":"2715"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9767.png","name":"9767"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2442.png","name":"2442"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":822.8072393297082,"rotation_z_degrees":187.3431610129602,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001081157461299248,0.01199661133839151,-0.016125378754646928]},{"name":"camera_2","offset_m":[-0.0069400093821436575,0.005755037836113662,0.016575207232212497]},{"name":"camera_3","offset_m":[-0.011157029758914009,-0.00328896898170088,0.012779517004113467]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00027879807206840205,-0.00026960577393299757,-0.001035552616150434],"end_effector_yaw_offset_degrees":-0.8184283946902098},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00016690854926712344,0.0015920747595364057,0.0005106775730349404],"end_effector_yaw_offset_degrees":0.7549083716035137},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003225013410398836,-0.001639659390012645,-0.0007156472499030083],"end_effector_yaw_offset_degrees":0.383230338456199},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0014863337689049864,0.0008726076420217739,0.0014296736683435457],"end_effector_yaw_offset_degrees":0.34441634142438016},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001859504014939574,-7.747628581081852e-05,0.0005088119648635364],"end_effector_yaw_offset_degrees":-0.38479692214386896},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005228044436262037,-0.00017418362889343132,-0.000484138045486958],"end_effector_yaw_offset_degrees":0.22056161124035545}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0009199690157152872,0.0018195624505149052],"position_m":[0.13958003098428473,0.2365195624505149,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00012778582602723798,-0.00031895822601626586],"position_m":[0.21347221417397277,-0.05401895822601627,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0017368768966581627,-0.0036122149090772335],"position_m":[0.24736312310334183,-0.3870122149090773,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0018091307364550844,0.00019265978360563998],"position_m":[0.35540913073645514,0.11739265978360564,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c6063ca8329ffbde22d26f2436178ecd387516ea11f1125f4523c33d4b34caa1","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0100.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7312/tex_ceiling_textures_2442/tex_floor_textures_9767/tex_table_textures_4164/tex_wall_textures_2715","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":2069983346315572326,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":2069983346315572326,"visual_seed":2069983346315572326,"scene_id":"lab_003","finished_at":"2026-09-06T18:34:56"} +{"episode_id":"ep_000099","started_at":"2026-09-06T18:35:01","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_0","position":[-0.3615348786554418,-0.9650378160820203,0.71338606911949],"aabb_xy":[[-0.3656508287675145,-0.9691533711148659],[-0.35741892854336915,-0.9609222610491748]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_1","position":[0.6038047002088973,-0.9156284304618989,0.71338606911949],"aabb_xy":[[0.5997265423018475,-0.9197094107101623],[0.6078828581159469,-0.9115474502136357]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_2","position":[-0.4301234913325552,0.8854371767371338,0.71338606911949],"aabb_xy":[[-0.4901234921933679,0.8340107467306473],[-0.3701234904717423,0.9368636067436201]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_3","position":[-0.3844378920569974,0.043752493885000465,0.71338606911949],"aabb_xy":[[-0.4069515838804546,-0.02624750671600707],[-0.3619242002335402,0.113752494486008]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_4","position":[-0.3802342287629114,0.35137592803430895,0.71338606911949],"aabb_xy":[[-0.41614773318790105,0.3154624198175543],[-0.34432072433792166,0.3872894362510635]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.4946899427332512,-0.4031949042763383,0.71338606911949],"aabb_xy":[[0.4603736655586332,-0.453194904249516],[0.5290062199078691,-0.35319490430316053]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_6","position":[-0.1479041265396872,-0.7583982718108591,0.71338606911949],"aabb_xy":[[-0.15531658208107568,-0.7642494822324869],[-0.14049167099829873,-0.752547061389231]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_7","position":[-0.29928796668348895,-1.4853386604495393,0.71338606911949],"aabb_xy":[[-0.3632879652700614,-1.532345623849048],[-0.2352879680969165,-1.4383316970500306]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.3432422371805688,0.3864039349342212,0.71338606911949],"aabb_xy":[[0.33009099120927954,0.36140393517753466],[0.35639348315185826,0.4114039346909078]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_9","position":[0.6154126485914404,-2.350625285023347,0.71338606911949],"aabb_xy":[[0.5842657297478572,-2.4206252837101543],[0.6465595674350234,-2.28062528633654]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[0.6546023237035556,1.4075252865662997,0.71338606911949],"aabb_xy":[[0.6492647480375511,1.38252528563716],[0.6599398993695602,1.4325252874954395]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[-0.014320479529435826,-1.2885936433085696,0.71338606911949],"aabb_xy":[[-0.05165175605467845,-1.3232466981034219],[0.023010796995806798,-1.2539405885137174]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_12","position":[-0.6512347238299014,1.29731639991433,0.71338606911949],"aabb_xy":[[-0.6887347246218968,1.2909485589561396],[-0.6137347230379059,1.30368424087252]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_13","position":[-0.16723620997576094,1.700217595339883,0.71338606911949],"aabb_xy":[[-0.24723621104888124,1.6904395490024986],[-0.08723620890264058,1.7099956416772675]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_14","position":[0.1060143789303769,-2.4303042439480205,0.71338606911949],"aabb_xy":[[0.01601437920720272,-2.4533775964832],[0.19601437865355106,-2.40723089141284]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.22784867604197157,-0.3913319124477126,0.71338606911949],"aabb_xy":[[-0.28784867629337274,-0.44561323748417725],[-0.16784867579057036,-0.33705058741124794]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_16","position":[-0.4629407128618053,-1.429220230466218,0.71338606911949],"aabb_xy":[[-0.46827322751641826,-1.4345445587114536],[-0.4576081982071923,-1.4238959022209825]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[-0.1657513178539125,-1.1523929736244984,0.71338606911949],"aabb_xy":[[-0.23575132124547446,-1.1877087473279293],[-0.09575131446235051,-1.1170771999210676]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_18","position":[0.3140037980618162,-0.5231983887020553,0.71338606911949],"aabb_xy":[[0.2765037996384158,-0.5363626026698858],[0.3515037964852165,-0.5100341747342245]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.18537642328438708,-1.7820257692932806,0.71338606911949],"aabb_xy":[[0.0953764196074689,-1.8434581758703845],[0.27537642696130527,-1.7205933627161758]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_20","position":[0.3777671806423599,-1.1405298810973903,0.71338606911949],"aabb_xy":[[0.3552707592084959,-1.1630298809041377],[0.4002636020762241,-1.1180298812906428]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_21","position":[-0.25013393342586865,-0.09102715829971242,0.71338606911949],"aabb_xy":[[-0.2851339334023645,-0.10049177434732903],[-0.21513393344937282,-0.0815625422520958]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_22","position":[0.528850238942767,-0.20049212955958806,0.71338606911949],"aabb_xy":[[0.508565936219368,-0.2207747547022969],[0.5491345416661655,-0.18020950441687922]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_23","position":[-0.2489868358996064,-0.7827715925730598,0.71338606911949],"aabb_xy":[[-0.29029137896334245,-0.8467715921411768],[-0.20768229283587045,-0.7187715930049426]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_24","position":[-0.09297197775820787,-1.4611447958683523,0.71338606911949],"aabb_xy":[[-0.11797197769072576,-1.4680274640892756],[-0.06797197782568998,-1.454262127647429]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6884857025659482,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9096.png","name":"9096"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9096.png","name":"9096"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/101.png","name":"101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2130.png","name":"2130"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7060.png","name":"7060"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5485.png","name":"5485"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":731.8868845774696,"rotation_z_degrees":238.21650144071887,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009832984774978489,-0.016586441437080848,0.015977485027793756]},{"name":"camera_2","offset_m":[0.0025618384279490237,-0.006457328123056319,0.017927885600537066]},{"name":"camera_3","offset_m":[-0.019588548021612175,-0.013017825032194548,-0.0030509977860926248]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0012159656540141396,-0.0013952982920962783,-0.0015405318852601724],"end_effector_yaw_offset_degrees":-0.5064251775446034},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0006408441390940371,-0.0009615898544078,9.675542163847892e-06],"end_effector_yaw_offset_degrees":-0.27928876065837493},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006904496831719876,-0.0017679962300134135,-0.001484645409734918],"end_effector_yaw_offset_degrees":0.12375191390920537},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007218372552454063,0.000698405584970435,0.0005656698661288648],"end_effector_yaw_offset_degrees":0.19440558887563242},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001857270990510611,0.0013810842725813142,0.0009431861839079591],"end_effector_yaw_offset_degrees":0.3215179133122552},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009505704615353286,-0.0019264348025808619,0.0012018201121507107],"end_effector_yaw_offset_degrees":0.9686876534116895}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00032","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0029490078708581903,-0.001406051676000226],"position_m":[0.13755099212914182,0.23329394832399977,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0024934827155879235,0.0009992505692702162],"position_m":[0.2111065172844121,-0.05270074943072978,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012362906042485034,-0.0013695026189723537],"position_m":[0.24786370939575147,-0.38476950261897236,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004740780978206702,-0.0013127286750363974],"position_m":[0.34885921902179334,0.1158872713249636,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b0df077d2c7e85594acb838339fbeb7477ef116719680eb2ea220f606e54c051","episode_index":101,"episode_name":"episode_0101"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/dataset/episode_0101.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_9096/tex_ceiling_textures_5485/tex_floor_textures_7060/tex_table_textures_101/tex_wall_textures_2130","seeds":{"action_seed":8965520104066671838,"physical_seed":3697495222794957137,"visual_seed":228130466117624115,"layout_id":"layout_00032","physical_randomization_enabled":true},"episode_seed":228130466117624115,"visual_seed":228130466117624115,"scene_id":"lab_003","finished_at":"2026-09-06T18:41:02"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..78e2db73b0e948810b7850c6c53a3cb28b6957d4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/resolved_config.yaml @@ -0,0 +1,318 @@ +name: lab3_heat_2beaker_s06_polplr_htc_00032 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Pour beaker b into beaker a and + return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker + a on the heater platform. Press the heater button to start heating. + layout_id: layout_00032 + reproducibility: + enabled: true + layout_id: layout_00032 + action_seed: 8965520104066671838 + step_seeds: + - 5868908299052723470 + - 1147186024122430536 + - 7048677080094423649 + - 1480185638166204106 + - 3014162407012415582 + - 4167145195996473630 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.1405 + - 0.1405 + 'y': + - 0.2347 + - 0.2347 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.2136 + - 0.2136 + 'y': + - -0.0537 + - -0.0537 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3536 + - 0.3536 + 'y': + - 0.1172 + - 0.1172 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.2491 + - 0.2491 + 'y': + - -0.3834 + - -0.3834 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68d8c69f6d81441271f6bda31d1fd76612143d75 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_0_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23299196253320859, + -0.04850782048673477, + 0.996965004005127 + ], + "current_z": 0.996965004005127, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1403785562012062, + "gripper_z": 0.9998673544891908, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2281615512476024, + -0.053288981264297125, + 0.9998673544891908 + ], + "object_minus_gripper": [ + 0.004830411285606184, + 0.004781160777562354, + -0.0029023504840638426 + ], + "object_to_gripper_xy": 0.0067964970072098355, + "object_to_gripper_z": -0.0029023504840638426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23299196253320859, + -0.07259122110097245, + 0.996965004005127 + ], + "finger_b": [ + 0.22129902970687848, + -0.04850782048673477, + 0.996965004005127 + ], + "finger_midpoint": [ + 0.22714549612004353, + -0.06054952079385361, + 0.996965004005127 + ], + "object_minus_finger_midpoint": [ + 0.005846466413165052, + 0.01204170030711884, + 0.0 + ], + "finger_gap": 0.026771904363099237, + "fingertip_max_gap": 0.09188874899694643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385952181549619, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996965004005127, + "object_top_z": 1.0426827744611655, + "finger_top_clearance": 0.04571777045603853, + "fingertip_min_top_clearance": 0.013715331136811542, + "object_projection_between_fingers": 0.809239531804694, + "object_to_finger_line_xy": 0.01051869832614621, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844437449847322, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3407366293884029, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1548912845052891, + 0.23778649220757966, + 0.7611063228173298 + ], + "gripper_position": [ + 0.15861470647144915, + 0.20079041373741485, + 1.0173925974877889 + ], + "target_minus_gripper": [ + -0.0037234219661600454, + 0.03699607847016481, + -0.25628627467045906 + ], + "held_position": [ + 0.16353022160080344, + 0.2053706651342549, + 1.0143147522450604 + ], + "held_minus_target": [ + 0.008638937095514332, + -0.03241582707332477, + 0.2532084294277306 + ], + "held_minus_gripper": [ + 0.0049155151293542865, + 0.0045802513968400405, + -0.003077845242728472 + ], + "xy_dist": 0.03718297585332131, + "held_xy_dist": 0.03354723653280474, + "held_gripper_dist": 0.00739013688529193, + "max_held_gripper_dist": 0.007394721911446912, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063228173298, + "held_z": 1.0143147522450604, + "required_height": 0.7911063228173298, + "gripper_z": 1.0173925974877889, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17639980480897, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.504598776170547, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.881557512416189, + "max_source_tilt_deg": 89.8583931959532, + "source_upright_tilt_deg": 1.8600875932865129, + "max_source_upright_tilt_deg": 89.82784384312896, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.881557512416189, + "source_upright_return_tilt_deg": 1.8600875932865129, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9689586722660794e-08, + "max_target_xy_drift": 1.5053085971679163e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.039564675638218104, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 5.102681605027593e-05, + "max_target_tilt_deg": 0.00011065512512709298, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1549, + 0.2378, + 0.7611 + ], + "controller_target_position": [ + 0.1549, + 0.2378, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + 0.0009, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1564, + 0.2132, + 1.026 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0662, + 0.0635, + 0.0929 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015279278905651196, + 0.0009388484200517121, + -0.0005656398615080133 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.8600758574443805, + "source_return_step_error_deg": 1.8815454703612615, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.8769783368645612, + "source_return_best_wrist_position": -1.6096543073654175, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096543073654175 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1549, + 0.2378, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1549, + 0.2378, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + 0.0009, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1564, + 0.2132, + 1.026 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0662, + 0.0635, + 0.0929 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0015279278905651196, + 0.0009388484200517121, + -0.0005656398615080133 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.8600758574443805, + "pour_controller_source_return_step_error_deg": 1.8815454703612615, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.8769783368645612, + "pour_controller_source_return_best_wrist_position": -1.6096543073654175, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096543073654175, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03718297585332131, + "valid_pour_held_xy_dist": 0.03354723653280474, + "valid_pour_held_gripper_dist": 0.00739013688529193, + "valid_pour_required_height": 0.7911063228173298, + "valid_pour_held_z": 1.0143147522450604, + "valid_pour_source_tilt_deg": 1.881557512416189, + "valid_pour_source_upright_tilt_deg": 1.8600875932865129, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9689586722660794e-08, + "valid_pour_target_tilt_deg": 5.102681605027593e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16353022160080344, + 0.18149209391746118, + 1.0143147522450604 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15224567588013085, + 0.2053706651342549, + 1.0143147522450604 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15788794874046713, + 0.19343137952585804, + 1.0143147522450604 + ], + "valid_pour_held_grasp_object_position": [ + 0.16353022160080344, + 0.2053706651342549, + 1.0143147522450604 + ], + "valid_pour_held_grasp_finger_gap": 0.026410739018010058, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023927259129649363, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005429554701524005, + -0.9994730779617276, + 0.03200134943176469 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005719757166710883, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033297865459258336, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16353022160080344, + 0.18149209391746118, + 1.0143147522450604 + ], + "held_grasp_finger_b": [ + 0.15224567588013085, + 0.2053706651342549, + 1.0143147522450604 + ], + "held_grasp_midpoint": [ + 0.15788794874046713, + 0.19343137952585804, + 1.0143147522450604 + ], + "held_grasp_object_position": [ + 0.16353022160080344, + 0.2053706651342549, + 1.0143147522450604 + ], + "held_grasp_finger_gap": 0.026410739018010058, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023927259129649363, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005429554701524005, + -0.9994730779617276, + 0.03200134943176469 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005719757166710883, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033297865459258336, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21196056685153516, + -0.050588159924158445, + 0.7565863825774612 + ], + "target_position": [ + 0.2113668025963607, + -0.05016604201989103, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0007285187134356946, + "xy_threshold": 0.08, + "gripper_dist": 0.2142204525551564, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863825774612, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537417345036823, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09202490965221775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18560930795006447, + "release_required_pad_clearance": 0.05601245482610888, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.266374637600312, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16167516696743622, + 0.23340321822025714, + 1.1628521546922124 + ], + "current_z": 1.1628521546922124, + "required_z": 0.8611063658168461, + "initial_z": 0.7611063658168461, + "lift_margin": 0.3017457888753663, + "gripper_z": 1.1564461452177175, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15902442219952226, + 0.2295592484361983, + 1.1564461452177175 + ], + "object_minus_gripper": [ + 0.002650744767913965, + 0.0038439697840588483, + 0.006406009474494878 + ], + "object_to_gripper_xy": 0.004669320242324432, + "object_to_gripper_z": 0.006406009474494878, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16167516696743622, + 0.21055477752144486, + 1.1628521546922124 + ], + "finger_b": [ + 0.15272379704970374, + 0.23340321822025714, + 1.1628521546922124 + ], + "finger_midpoint": [ + 0.15719948200856998, + 0.221978997870851, + 1.1628521546922124 + ], + "object_minus_finger_midpoint": [ + 0.004475684958866244, + 0.011424220349406128, + 0.0 + ], + "finger_gap": 0.024539320809085725, + "fingertip_max_gap": 0.09171122549396027, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012269660404542849, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628521546922124, + "object_top_z": 1.2131352231666774, + "finger_top_clearance": 0.050283068474465065, + "fingertip_min_top_clearance": 0.015084920542339486, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012269660404542849, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835561274698014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0186825603488716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30852073397258717, + -0.378037681204172, + 0.8515395543968562 + ], + "target_position": [ + 0.30326295444803725, + -0.37898638175399435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00534268455572754, + "xy_threshold": 0.08, + "gripper_dist": 0.1820386697178074, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395543968562, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753153726995601, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08712503941516768, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15079735484925033, + "release_required_pad_clearance": 0.05356251970758384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1361573792361375, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008612453937530518, + "max_z_decrease": 0.008612453937530518, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035037283295510646, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008612453937530518, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086720452699209, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008612453937530518, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008612936491382365, + "max_button_displacement": 0.12, + "button_start": [ + 0.15896287560462952, + -0.43524783849716187, + 0.7768088579177856 + ], + "button_final": [ + 0.15896287560462952, + -0.43524783849716187, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15892396056641966, + -0.43355299715292583, + 0.8035632973774336 + ], + "closest_button": [ + 0.15887406468391418, + -0.4352096617221831, + 0.7685652375221252 + ], + "closest_ee_minus_button": [ + 4.9895882505479605e-05, + 0.0016566645692572823, + 0.03499805985530835 + ], + "button_min_z_position": [ + 0.158875972032547, + -0.4352202713489532, + 0.7681964039802551 + ], + "min_active_finger_to_button": 0.1450812666543075, + "closest_active_finger": [ + 0.03288789093494415, + -0.4984161853790283, + 0.8108032941818237 + ], + "closest_active_finger_button": [ + 0.15895900130271912, + -0.43524715304374684, + 0.776681125164032 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12607111036777496, + -0.06316903233528148, + 0.03412216901779175 + ], + "min_contact_pad_to_button": 0.02086720452699209, + "closest_contact_pad": [ + 0.158875972032547, + -0.4352202713489532, + 0.7890636085072472 + ], + "closest_contact_pad_button": [ + 0.158875972032547, + -0.4352202713489532, + 0.7681964039802551 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086720452699209 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7449c4ca495e322893d46236bbef40769a5edb03e9e32b8b5b72c646adf592f", + "visual_seed": 4805505253074365095, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aa195794e95643185acdb2be28b7dcf7815d6159 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_100_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23554076266993998, + -0.052581279025357135, + 0.9954266639547367 + ], + "current_z": 0.9954266639547367, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1388401565461711, + "gripper_z": 0.9984763480605339, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23112987837085897, + -0.05691203273668881, + 0.9984763480605339 + ], + "object_minus_gripper": [ + 0.004410884299081014, + 0.004330753711331674, + -0.0030496841057972013 + ], + "object_to_gripper_xy": 0.006181531202549452, + "object_to_gripper_z": -0.0030496841057972013, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23554076266993998, + -0.07676084355513957, + 0.9954266639547367 + ], + "finger_b": [ + 0.224975874448597, + -0.052581279025357135, + 0.9954266639547367 + ], + "finger_midpoint": [ + 0.23025831855926848, + -0.06467106129024836, + 0.9954266639547367 + ], + "object_minus_finger_midpoint": [ + 0.005282444110671497, + 0.01208978226489122, + 0.0 + ], + "finger_gap": 0.026386894549745413, + "fingertip_max_gap": 0.09292388099081975, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013193447274872715, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954266639547367, + "object_top_z": 1.041234079443279, + "finger_top_clearance": 0.04580741548854239, + "fingertip_min_top_clearance": 0.013742224646562717, + "object_projection_between_fingers": 0.839692718277889, + "object_to_finger_line_xy": 0.009681108779826662, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048961940495409875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9208716094728915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15858597178120232, + 0.23651572127804238, + 0.7611066272240554 + ], + "gripper_position": [ + 0.1618475006752422, + 0.20051371126531664, + 1.0181161581294744 + ], + "target_minus_gripper": [ + -0.0032615288940398834, + 0.03600201001272574, + -0.257009530905419 + ], + "held_position": [ + 0.16620602478781885, + 0.20478628222260653, + 1.0149104280603591 + ], + "held_minus_target": [ + 0.007620053006616528, + -0.03172943905543585, + 0.2538038008363037 + ], + "held_minus_gripper": [ + 0.004358524112576645, + 0.0042725709572898896, + -0.003205730069115287 + ], + "xy_dist": 0.03614944391941682, + "held_xy_dist": 0.03263161826505488, + "held_gripper_dist": 0.006894077189952182, + "max_held_gripper_dist": 0.0068983186544533765, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240554, + "held_z": 1.0149104280603591, + "required_height": 0.7911066272240554, + "gripper_z": 1.0181161581294744, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17704867278012, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6073574033837064, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.911268585021033, + "max_source_tilt_deg": 89.85447147581615, + "source_upright_tilt_deg": 3.33767395673209, + "max_source_upright_tilt_deg": 89.83811044376193, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.911268585021033, + "source_upright_return_tilt_deg": 3.33767395673209, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.356080457693621e-07, + "max_target_xy_drift": 3.769728732309794e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1586, + 0.2365, + 0.7611 + ], + "controller_target_position": [ + 0.1586, + 0.2365, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0016, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.1588, + 0.2128, + 1.0269 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0692, + 0.0662, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00016690854926712344, + 0.0015920747595364057, + 0.0005106775730349404 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.3376651432382003, + "source_return_step_error_deg": 1.9112240747300433, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.340820970036893, + "source_return_best_wrist_position": -1.6097362041473389, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097362041473389 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1586, + 0.2365, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1586, + 0.2365, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0016, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1588, + 0.2128, + 1.0269 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0692, + 0.0662, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00016690854926712344, + 0.0015920747595364057, + 0.0005106775730349404 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.3376651432382003, + "pour_controller_source_return_step_error_deg": 1.9112240747300433, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.340820970036893, + "pour_controller_source_return_best_wrist_position": -1.6097362041473389, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097362041473389, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03614944391941682, + "valid_pour_held_xy_dist": 0.03263161826505488, + "valid_pour_held_gripper_dist": 0.006894077189952182, + "valid_pour_required_height": 0.7911066272240554, + "valid_pour_held_z": 1.0149104280603591, + "valid_pour_source_tilt_deg": 1.911268585021033, + "valid_pour_source_upright_tilt_deg": 3.33767395673209, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.356080457693621e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16620602478781885, + 0.1813346732244998, + 1.0149104280603591 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15532206281417604, + 0.20478628222260653, + 1.0149104280603591 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16076404380099746, + 0.19306047772355317, + 1.0149104280603591 + ], + "valid_pour_held_grasp_object_position": [ + 0.16620602478781885, + 0.20478628222260653, + 1.0149104280603591 + ], + "valid_pour_held_grasp_finger_gap": 0.025854179407666038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023934202866855176, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.047994787665000496, + -0.9983037592374288, + 0.032956101853972464 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00601064467891649, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033755496976262116, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16620602478781885, + 0.1813346732244998, + 1.0149104280603591 + ], + "held_grasp_finger_b": [ + 0.15532206281417604, + 0.20478628222260653, + 1.0149104280603591 + ], + "held_grasp_midpoint": [ + 0.16076404380099746, + 0.19306047772355317, + 1.0149104280603591 + ], + "held_grasp_object_position": [ + 0.16620602478781885, + 0.20478628222260653, + 1.0149104280603591 + ], + "held_grasp_finger_gap": 0.025854179407666038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023934202866855176, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.047994787665000496, + -0.9983037592374288, + 0.032956101853972464 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00601064467891649, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033755496976262116, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20299823839704076, + -0.05170090187799052, + 0.7565894180618695 + ], + "target_position": [ + 0.21347221417397277, + -0.05401895822601627, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010727420650295255, + "xy_threshold": 0.08, + "gripper_dist": 0.208480765737656, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565894180618695, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570959651462317, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.090816427894487, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18070042827137112, + "release_required_pad_clearance": 0.055408213947243504, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.93773869402806, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16560907295262198, + 0.23341407830522262, + 1.163418759046463 + ], + "current_z": 1.163418759046463, + "required_z": 0.8611066868287001, + "initial_z": 0.7611066868287001, + "lift_margin": 0.302312072217763, + "gripper_z": 1.1570320069996543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16271889885504734, + 0.22947936157071996, + 1.1570320069996543 + ], + "object_minus_gripper": [ + 0.002890174097574638, + 0.003934716734502658, + 0.00638675204680883 + ], + "object_to_gripper_xy": 0.004882120655521188, + "object_to_gripper_z": 0.00638675204680883, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16560907295262198, + 0.21043021688472785, + 1.163418759046463 + ], + "finger_b": [ + 0.15649285324240383, + 0.23341407830522262, + 1.163418759046463 + ], + "finger_midpoint": [ + 0.1610509630975129, + 0.22192214759497525, + 1.163418759046463 + ], + "object_minus_finger_midpoint": [ + 0.0045581098551090715, + 0.011491930710247372, + 0.0 + ], + "finger_gap": 0.024725762831538236, + "fingertip_max_gap": 0.09110666407349971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012362881415769104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163418759046463, + "object_top_z": 1.2134567955112785, + "finger_top_clearance": 0.050038036464815416, + "fingertip_min_top_clearance": 0.015011410939444624, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012362881415769104, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805333203674986, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6474646876990592, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3049189398717749, + -0.38642623425655087, + 0.8515396095926228 + ], + "target_position": [ + 0.30042757622807437, + -0.38702002922539613, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004530445877061181, + "xy_threshold": 0.08, + "gripper_dist": 0.18074799645870218, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396095926228, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753480255385691, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08847129028108124, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14936971536341023, + "release_required_pad_clearance": 0.05423564514054062, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4892372888852594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0084991455078125, + "max_z_decrease": 0.0084991455078125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034996142206403916, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0084991455078125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020900414960838967, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0084991455078125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008499684057132483, + "max_button_displacement": 0.12, + "button_start": [ + 0.15612749755382535, + -0.44328150153160095, + 0.7768088579177856 + ], + "button_final": [ + 0.15612749755382535, + -0.44328150153160095, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1556557896719689, + -0.4434848718613052, + 0.803670149171235 + ], + "closest_button": [ + 0.15603619813919065, + -0.4432478845119477, + 0.7686768770217896 + ], + "closest_ee_minus_button": [ + -0.00038040846722173227, + -0.0002369873493575092, + 0.034993272149445476 + ], + "button_min_z_position": [ + 0.15603528916835785, + -0.4432559609413147, + 0.7683097124099731 + ], + "min_active_finger_to_button": 0.14622804383823684, + "closest_active_finger": [ + 0.014766581356525421, + -0.4280424118041992, + 0.8106796145439148 + ], + "closest_active_finger_button": [ + 0.15611974895000455, + -0.44328147172927856, + 0.7764788269996643 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14135316759347913, + 0.015239059925079346, + 0.03420078754425049 + ], + "min_contact_pad_to_button": 0.020900414960838967, + "closest_contact_pad": [ + 0.15603528916835785, + -0.44459297490217914, + 0.7891673186773212 + ], + "closest_contact_pad_button": [ + 0.15603528916835785, + -0.4432559609413147, + 0.7683097124099731 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013370139608644416, + 0.020857606267348006 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c6063ca8329ffbde22d26f2436178ecd387516ea11f1125f4523c33d4b34caa1", + "visual_seed": 2069983346315572326, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_101_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_101_success.json new file mode 100644 index 0000000000000000000000000000000000000000..33a5f4fe4f22ea670edac033ba4ac4ead0397447 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_101_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 101, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23287416510972694, + -0.05251106783039206, + 0.9948434985465371 + ], + "current_z": 0.9948434985465371, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13825699113797152, + "gripper_z": 0.9979571675134199, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2282924897857512, + -0.05697889353292736, + 0.9979571675134199 + ], + "object_minus_gripper": [ + 0.004581675323975742, + 0.0044678257025352955, + -0.00311366896688281 + ], + "object_to_gripper_xy": 0.00639946992199848, + "object_to_gripper_z": -0.00311366896688281, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23287416510972694, + -0.07669701814039448, + 0.9948434985465371 + ], + "finger_b": [ + 0.22197983372123928, + -0.05251106783039206, + 0.9948434985465371 + ], + "finger_midpoint": [ + 0.2274269994154831, + -0.06460404298539327, + 0.9948434985465371 + ], + "object_minus_finger_midpoint": [ + 0.005447165694243833, + 0.012092975155001205, + 0.0 + ], + "finger_gap": 0.02652633877488738, + "fingertip_max_gap": 0.09293023695013233, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013263169387443685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9948434985465371, + "object_top_z": 1.0406799445309685, + "finger_top_clearance": 0.04583644598443137, + "fingertip_min_top_clearance": 0.013750933795329394, + "object_projection_between_fingers": 0.8313266230933098, + "object_to_finger_line_xy": 0.009933137017465433, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896511847506617, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9330958060967451, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15656076986450757, + 0.2332939561174817, + 0.7611063888054765 + ], + "gripper_position": [ + 0.15966866498967, + 0.19514491201822198, + 1.017402875014878 + ], + "target_minus_gripper": [ + -0.0031078951251624354, + 0.038149044099259705, + -0.2562964862094015 + ], + "held_position": [ + 0.16427049197942653, + 0.19947457961216908, + 1.0141234971316686 + ], + "held_minus_target": [ + 0.007709722114918965, + -0.03381937650531261, + 0.25301710832619206 + ], + "held_minus_gripper": [ + 0.00460182698975653, + 0.004329667593947095, + -0.0032793778832094223 + ], + "xy_dist": 0.038275430471730425, + "held_xy_dist": 0.03468702988578528, + "held_gripper_dist": 0.007118788690403051, + "max_held_gripper_dist": 0.007122327497106719, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0141234971316686, + "required_height": 0.7911063888054766, + "gripper_z": 1.017402875014878, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1790362578286, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.258664132759994, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9571692272017258, + "max_source_tilt_deg": 89.8771770714467, + "source_upright_tilt_deg": 2.549242775566248, + "max_source_upright_tilt_deg": 89.97072672791852, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9571692272017258, + "source_upright_return_tilt_deg": 2.549242775566248, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.322027276634104e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1566, + 0.2333, + 0.7611 + ], + "controller_target_position": [ + 0.1566, + 0.2333, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + -0.001, + 0.0 + ], + "controller_last_pour_pose_position": [ + 0.1559, + 0.207, + 1.0264 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006408441390940371, + -0.0009615898544078, + 9.675542163847892e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.549262949305698, + "source_return_step_error_deg": 1.9571969955552397, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.553478458318863, + "source_return_best_wrist_position": -1.6096441745758057, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096441745758057 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1566, + 0.2333, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1566, + 0.2333, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + -0.001, + 0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1559, + 0.207, + 1.0264 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006408441390940371, + -0.0009615898544078, + 9.675542163847892e-06 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.549262949305698, + "pour_controller_source_return_step_error_deg": 1.9571969955552397, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.553478458318863, + "pour_controller_source_return_best_wrist_position": -1.6096441745758057, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096441745758057, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038275430471730425, + "valid_pour_held_xy_dist": 0.03468702988578528, + "valid_pour_held_gripper_dist": 0.007118788690403051, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0141234971316686, + "valid_pour_source_tilt_deg": 1.9571692272017258, + "valid_pour_source_upright_tilt_deg": 2.549242775566248, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.322027276634104e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16427049197942653, + 0.1757284557217326, + 1.0141234971316686 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15345539707070158, + 0.19947457961216908, + 1.0141234971316686 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15886294452506405, + 0.18760151766695082, + 1.0141234971316686 + ], + "valid_pour_held_grasp_object_position": [ + 0.16427049197942653, + 0.19947457961216908, + 1.0141234971316686 + ], + "valid_pour_held_grasp_finger_gap": 0.026093000550045726, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02405320353423078, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03056648707215834, + -0.9990103725969831, + 0.03231045205045735 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005780504440573946, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0335042026574071, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16427049197942653, + 0.1757284557217326, + 1.0141234971316686 + ], + "held_grasp_finger_b": [ + 0.15345539707070158, + 0.19947457961216908, + 1.0141234971316686 + ], + "held_grasp_midpoint": [ + 0.15886294452506405, + 0.18760151766695082, + 1.0141234971316686 + ], + "held_grasp_object_position": [ + 0.16427049197942653, + 0.19947457961216908, + 1.0141234971316686 + ], + "held_grasp_finger_gap": 0.026093000550045726, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02405320353423078, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03056648707215834, + -0.9990103725969831, + 0.03231045205045735 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005780504440573946, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0335042026574071, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2076698413183338, + -0.05367453685677171, + 0.7565868524252215 + ], + "target_position": [ + 0.2111065172844121, + -0.05270074943072978, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0035719747545213116, + "xy_threshold": 0.08, + "gripper_dist": 0.21162312135357872, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868524252215, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560476018605658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795600184859727, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18269765990426015, + "release_required_pad_clearance": 0.053978000924298636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9655868518317092, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16351591863834616, + 0.2299168449110739, + 1.162902712105773 + ], + "current_z": 1.162902712105773, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.30179632330029627, + "gripper_z": 1.156626200915811, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16071613138520063, + 0.2260119875796467, + 1.156626200915811 + ], + "object_minus_gripper": [ + 0.0027997872531455303, + 0.003904857331427203, + 0.006276511189961864 + ], + "object_to_gripper_xy": 0.0048048641439354944, + "object_to_gripper_z": 0.006276511189961864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16351591863834616, + 0.20688580397443607, + 1.162902712105773 + ], + "finger_b": [ + 0.15457332228762596, + 0.2299168449110739, + 1.162902712105773 + ], + "finger_midpoint": [ + 0.15904462046298606, + 0.21840132444275498, + 1.162902712105773 + ], + "object_minus_finger_midpoint": [ + 0.0044712981753601, + 0.011515520468318913, + 0.0 + ], + "finger_gap": 0.024706251761791014, + "fingertip_max_gap": 0.09127942637419215, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012353125880895507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162902712105773, + "object_top_z": 1.213110072259996, + "finger_top_clearance": 0.050207360154223, + "fingertip_min_top_clearance": 0.0150622080462669, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012353125880895507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048139713187096075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8158568170048716, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3058682978957866, + -0.3847878357353975, + 0.8515395863690051 + ], + "target_position": [ + 0.30092816252048404, + -0.3847773169352912, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004940146573885397, + "xy_threshold": 0.08, + "gripper_dist": 0.18124268551637482, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395863690051, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562532808896968, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496539433949334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14901352321779907, + "release_required_pad_clearance": 0.05248269716974667, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956465238744501, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008599936962127686, + "max_z_decrease": 0.008599936962127686, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508245942546407, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008599936962127686, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021075333592420874, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008599936962127686, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008600034028883886, + "max_button_displacement": 0.12, + "button_start": [ + 0.15662808716297144, + -0.4410387873649597, + 0.7768088579177856 + ], + "button_final": [ + 0.15662808716297144, + -0.4410387873649597, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15763473201030462, + -0.4431321025957619, + 0.803615389979402 + ], + "closest_button": [ + 0.15659300982952112, + -0.4410315155982971, + 0.7686113715171814 + ], + "closest_ee_minus_button": [ + 0.0010417221807834942, + -0.002100586997464793, + 0.035004018462220565 + ], + "button_min_z_position": [ + 0.15659217536449427, + -0.4410192966461181, + 0.768208920955658 + ], + "min_active_finger_to_button": 0.14472482206082868, + "closest_active_finger": [ + 0.016483210027217865, + -0.429433673620224, + 0.8106326460838318 + ], + "closest_active_finger_button": [ + 0.15662217140197748, + -0.4410396218299866, + 0.7764033079147339 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14013896137475962, + 0.011605948209762573, + 0.0342293381690979 + ], + "min_contact_pad_to_button": 0.021075333592420874, + "closest_contact_pad": [ + 0.15659217536449427, + -0.44410889915451934, + 0.7890565597277565 + ], + "closest_contact_pad_button": [ + 0.15659217536449427, + -0.4410192966461181, + 0.768208920955658 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030896025084012346, + 0.020847638772098498 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 101, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b0df077d2c7e85594acb838339fbeb7477ef116719680eb2ea220f606e54c051", + "visual_seed": 228130466117624115, + "episode_index": 101, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6269014a6cb796778307ae74e430591419a0d065 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_10_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23554426979016307, + -0.05614814076216323, + 0.9965041010826995 + ], + "current_z": 0.9965041010826995, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1399175936741338, + "gripper_z": 0.9992860770397223, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2310352226817906, + -0.06057222165701952, + 0.9992860770397223 + ], + "object_minus_gripper": [ + 0.004509047108372466, + 0.00442408089485629, + -0.0027819759570227864 + ], + "object_to_gripper_xy": 0.0063169611040241914, + "object_to_gripper_z": -0.0027819759570227864, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23554426979016307, + -0.08030671791501698, + 0.9965041010826995 + ], + "finger_b": [ + 0.22473390132696092, + -0.05614814076216323, + 0.9965041010826995 + ], + "finger_midpoint": [ + 0.230139085558562, + -0.0682274293385901, + 0.9965041010826995 + ], + "object_minus_finger_midpoint": [ + 0.005405184231601079, + 0.012079288576426879, + 0.0 + ], + "finger_gap": 0.026466977847132134, + "fingertip_max_gap": 0.09293937015287354, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013233488923566069, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965041010826995, + "object_top_z": 1.0423457784667298, + "finger_top_clearance": 0.04584167738403033, + "fingertip_min_top_clearance": 0.013752503215209133, + "object_projection_between_fingers": 0.8331707160108268, + "object_to_finger_line_xy": 0.009867508186143162, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04896968507643677, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8501579108636987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15661186594624127, + 0.2360627259777493, + 0.7611063888054765 + ], + "gripper_position": [ + 0.15970033062823857, + 0.19874554936725822, + 1.0178477351367101 + ], + "target_minus_gripper": [ + -0.003088464681997305, + 0.03731717661049108, + -0.2567413463312336 + ], + "held_position": [ + 0.16419222725972077, + 0.20308305703992474, + 1.0149042158423058 + ], + "held_minus_target": [ + 0.0075803613134795, + -0.03297966893782456, + 0.2537978270368293 + ], + "held_minus_gripper": [ + 0.004491896631482195, + 0.004337507672666524, + -0.0029435192944042843 + ], + "xy_dist": 0.03744476310875163, + "held_xy_dist": 0.033839628261720114, + "held_gripper_dist": 0.006903290084799591, + "max_held_gripper_dist": 0.006907309364052587, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0149042158423058, + "required_height": 0.7911063888054766, + "gripper_z": 1.0178477351367101, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17168697428167, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1927170330967316, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.857656501117398, + "max_source_tilt_deg": 89.83968759806234, + "source_upright_tilt_deg": 2.8421177258271326, + "max_source_upright_tilt_deg": 89.75190342283068, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.857656501117398, + "source_upright_return_tilt_deg": 2.8421177258271326, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.024520884654677e-08, + "max_target_xy_drift": 1.2818463544611077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1566, + 0.2361, + 0.7611 + ], + "controller_target_position": [ + 0.1566, + 0.2361, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0004, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1556, + 0.2104, + 1.027 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0686, + 0.0655, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010492395092674541, + -0.00041031884485226346, + 0.0005836548504645806 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8421254715606716, + "source_return_step_error_deg": 1.8576555365496192, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8457750636403234, + "source_return_best_wrist_position": -1.6089760065078735, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6089760065078735 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1566, + 0.2361, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1566, + 0.2361, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0004, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1556, + 0.2104, + 1.027 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0686, + 0.0655, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010492395092674541, + -0.00041031884485226346, + 0.0005836548504645806 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8421254715606716, + "pour_controller_source_return_step_error_deg": 1.8576555365496192, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8457750636403234, + "pour_controller_source_return_best_wrist_position": -1.6089760065078735, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6089760065078735, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03744476310875163, + "valid_pour_held_xy_dist": 0.033839628261720114, + "valid_pour_held_gripper_dist": 0.006903290084799591, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0149042158423058, + "valid_pour_source_tilt_deg": 1.857656501117398, + "valid_pour_source_upright_tilt_deg": 2.8421177258271326, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.024520884654677e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16419222725972077, + 0.1794741499760696, + 1.0149042158423058 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15327059552298206, + 0.20308305703992474, + 1.0149042158423058 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1587314113913514, + 0.1912786035079972, + 1.0149042158423058 + ], + "valid_pour_held_grasp_object_position": [ + 0.16419222725972077, + 0.20308305703992474, + 1.0149042158423058 + ], + "valid_pour_held_grasp_finger_gap": 0.026012737890170015, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02398903341054551, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03746382326567192, + -0.9987699670133392, + 0.03248099349607348 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005911453632736538, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03361487434169595, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16419222725972077, + 0.1794741499760696, + 1.0149042158423058 + ], + "held_grasp_finger_b": [ + 0.15327059552298206, + 0.20308305703992474, + 1.0149042158423058 + ], + "held_grasp_midpoint": [ + 0.1587314113913514, + 0.1912786035079972, + 1.0149042158423058 + ], + "held_grasp_object_position": [ + 0.16419222725972077, + 0.20308305703992474, + 1.0149042158423058 + ], + "held_grasp_finger_gap": 0.026012737890170015, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02398903341054551, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03746382326567192, + -0.9987699670133392, + 0.03248099349607348 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005911453632736538, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03361487434169595, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.208619216566367, + -0.05456279041375388, + 0.7565872027911112 + ], + "target_position": [ + 0.21367867182732, + -0.055872576821970964, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005226244155484434, + "xy_threshold": 0.08, + "gripper_dist": 0.21323710969797638, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565872027911112, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550888193450225, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08701683036266407, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18497197118777584, + "release_required_pad_clearance": 0.053508415181332036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.026726445847771, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16362222962538345, + 0.23348526397961616, + 1.1626032094137515 + ], + "current_z": 1.1626032094137515, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.301496820608275, + "gripper_z": 1.1562358255764122, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1608536309805797, + 0.22952029316196224, + 1.1562358255764122 + ], + "object_minus_gripper": [ + 0.002768598644803749, + 0.003964970817653929, + 0.006367383837339258 + ], + "object_to_gripper_xy": 0.004835921012677566, + "object_to_gripper_z": 0.006367383837339258, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16362222962538345, + 0.21063010654892117, + 1.1626032094137515 + ], + "finger_b": [ + 0.15438386755132594, + 0.23348526397961616, + 1.1626032094137515 + ], + "finger_midpoint": [ + 0.15900304858835468, + 0.22205768526426867, + 1.1626032094137515 + ], + "object_minus_finger_midpoint": [ + 0.004619181037028769, + 0.011427578715347497, + 0.0 + ], + "finger_gap": 0.024651684627895857, + "fingertip_max_gap": 0.09148070127623992, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012325842313947932, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626032094137515, + "object_top_z": 1.212975897802313, + "finger_top_clearance": 0.05037268838856157, + "fingertip_min_top_clearance": 0.01511180651656847, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012325842313947932, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04824035063811996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0060390576444669, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3071748281191271, + -0.3876020473297167, + 0.8515396056052582 + ], + "target_position": [ + 0.3039012686283704, + -0.3875492531589729, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003273985180783163, + "xy_threshold": 0.08, + "gripper_dist": 0.18208529046361122, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396056052582, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577403080278568, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08986824447687246, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1494888478517932, + "release_required_pad_clearance": 0.05493412223843623, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.9356692088623095, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008735418319702148, + "max_z_decrease": 0.008735418319702148, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035018809881743086, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008735418319702148, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02100643560518864, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008735418319702148, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008736388110360007, + "max_button_displacement": 0.12, + "button_start": [ + 0.15960119664669034, + -0.44381070137023926, + 0.7768088579177856 + ], + "button_final": [ + 0.15960119664669034, + -0.44381070137023926, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15996763976448442, + -0.44505520852641905, + 0.8038370861353978 + ], + "closest_button": [ + 0.15949197113513947, + -0.4437754154205322, + 0.7688449025154114 + ], + "closest_ee_minus_button": [ + 0.0004756686293449497, + -0.0012797931058868284, + 0.03499218361998646 + ], + "button_min_z_position": [ + 0.1594787389039993, + -0.4437665641307831, + 0.7680734395980835 + ], + "min_active_finger_to_button": 0.14530573210244338, + "closest_active_finger": [ + 0.019149959087371826, + -0.4290252923965454, + 0.8109920024871826 + ], + "closest_active_finger_button": [ + 0.15959841012954706, + -0.44381222128868103, + 0.7767964601516724 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14044845104217524, + 0.01478692889213562, + 0.034195542335510254 + ], + "min_contact_pad_to_button": 0.02100643560518864, + "closest_contact_pad": [ + 0.1594787389039993, + -0.44619231640410184, + 0.7889393463059988 + ], + "closest_contact_pad_button": [ + 0.1594787389039993, + -0.4437665641307831, + 0.7680734395980835 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024257522733187598, + 0.020865906707915327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5583b5ef55ce7a32c8e3bd62d31a07244a4917f69f6aa32da99253f282b8845a", + "visual_seed": 7214628291298393469, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0aa7e71e33053ad99e899d7194f68d95217be06a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_11_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23764251795774333, + -0.05313088593718214, + 0.995323222551519 + ], + "current_z": 0.995323222551519, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13873671514295338, + "gripper_z": 0.998095413494424, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23333982181615334, + -0.05761608867813775, + 0.998095413494424 + ], + "object_minus_gripper": [ + 0.0043026961415899845, + 0.00448520274095561, + -0.0027721909429050395 + ], + "object_to_gripper_xy": 0.006215322816582342, + "object_to_gripper_z": -0.0027721909429050395, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23764251795774333, + -0.07689080025085973, + 0.995323222551519 + ], + "finger_b": [ + 0.2264312465672406, + -0.05313088593718214, + 0.995323222551519 + ], + "finger_midpoint": [ + 0.23203688226249197, + -0.06501084309402094, + 0.995323222551519 + ], + "object_minus_finger_midpoint": [ + 0.005605635695251354, + 0.011879957156838802, + 0.0 + ], + "finger_gap": 0.026272155114965473, + "fingertip_max_gap": 0.09306450254723525, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013136077557482737, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.995323222551519, + "object_top_z": 1.0411732676573178, + "finger_top_clearance": 0.04585004510579882, + "fingertip_min_top_clearance": 0.01375501353173963, + "object_projection_between_fingers": 0.8178964835871738, + "object_to_finger_line_xy": 0.010139208086282657, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903225127361763, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2701103811106225, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15842348951954455, + 0.23709637482628293, + 0.7611065676194109 + ], + "gripper_position": [ + 0.16238496724744939, + 0.20121766236887786, + 1.0179707119996542 + ], + "target_minus_gripper": [ + -0.0039614777279048385, + 0.035878712457405065, + -0.2568641443802433 + ], + "held_position": [ + 0.16674251130427734, + 0.20554424209448718, + 1.0150358920556724 + ], + "held_minus_target": [ + 0.008319021784732789, + -0.031552132731795746, + 0.2539293244362615 + ], + "held_minus_gripper": [ + 0.00435754405682795, + 0.00432657972560932, + -0.0029348199439818146 + ], + "xy_dist": 0.03609674934658022, + "held_xy_dist": 0.0326304030526703, + "held_gripper_dist": 0.00680592759532774, + "max_held_gripper_dist": 0.006810828530191156, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194109, + "held_z": 1.0150358920556724, + "required_height": 0.7911065676194109, + "gripper_z": 1.0179707119996542, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17451467259805, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3454161742568524, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.885952090306665, + "max_source_tilt_deg": 89.80784519884048, + "source_upright_tilt_deg": 2.342941813317931, + "max_source_upright_tilt_deg": 89.98408725351283, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.885952090306665, + "source_upright_return_tilt_deg": 2.342941813317931, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.541398640621973e-08, + "max_target_xy_drift": 5.057621821307283e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1584, + 0.2371, + 0.7611 + ], + "controller_target_position": [ + 0.1584, + 0.2371, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0019, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.1598, + 0.2135, + 1.0269 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0647, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013848910226009685, + 0.0018936518405073574, + 0.00029860992103438724 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3429395050883817, + "source_return_step_error_deg": 1.8859575500767174, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3416405458117597, + "source_return_best_wrist_position": -1.6093690395355225, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093690395355225 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1584, + 0.2371, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1584, + 0.2371, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0019, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1598, + 0.2135, + 1.0269 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0647, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013848910226009685, + 0.0018936518405073574, + 0.00029860992103438724 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3429395050883817, + "pour_controller_source_return_step_error_deg": 1.8859575500767174, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3416405458117597, + "pour_controller_source_return_best_wrist_position": -1.6093690395355225, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093690395355225, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03609674934658022, + "valid_pour_held_xy_dist": 0.0326304030526703, + "valid_pour_held_gripper_dist": 0.00680592759532774, + "valid_pour_required_height": 0.7911065676194109, + "valid_pour_held_z": 1.0150358920556724, + "valid_pour_source_tilt_deg": 1.885952090306665, + "valid_pour_source_upright_tilt_deg": 2.342941813317931, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.541398640621973e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16674251130427734, + 0.18206741225162246, + 1.0150358920556724 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1558080109490566, + 0.20554424209448718, + 1.0150358920556724 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16127526112666696, + 0.19380582717305483, + 1.0150358920556724 + ], + "valid_pour_held_grasp_object_position": [ + 0.16674251130427734, + 0.20554424209448718, + 1.0150358920556724 + ], + "valid_pour_held_grasp_finger_gap": 0.025898355883900163, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02376298729063909, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027964975102675323, + -0.9991640446111788, + 0.029818989314485456 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005803803332914979, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03362451435068517, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16674251130427734, + 0.18206741225162246, + 1.0150358920556724 + ], + "held_grasp_finger_b": [ + 0.1558080109490566, + 0.20554424209448718, + 1.0150358920556724 + ], + "held_grasp_midpoint": [ + 0.16127526112666696, + 0.19380582717305483, + 1.0150358920556724 + ], + "held_grasp_object_position": [ + 0.16674251130427734, + 0.20554424209448718, + 1.0150358920556724 + ], + "held_grasp_finger_gap": 0.025898355883900163, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02376298729063909, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027964975102675323, + -0.9991640446111788, + 0.029818989314485456 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005803803332914979, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03362451435068517, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21610750896042646, + -0.05925348708006451, + 0.7565863751188127 + ], + "target_position": [ + 0.21615561054364377, + -0.05404492529622515, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005208783890542963, + "xy_threshold": 0.08, + "gripper_dist": 0.21441763754820123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863751188127, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577810561868485, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08686094205563129, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18387701596818903, + "release_required_pad_clearance": 0.053430471027815646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8750696264801339, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16529726896467642, + 0.2339706563477552, + 1.1637557632357907 + ], + "current_z": 1.1637557632357907, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.3026492552210246, + "gripper_z": 1.1574010035420665, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16245849161300888, + 0.23008164923488517, + 1.1574010035420665 + ], + "object_minus_gripper": [ + 0.002838777351667543, + 0.0038890071128700465, + 0.006354759693724121 + ], + "object_to_gripper_xy": 0.004814876236861588, + "object_to_gripper_z": 0.006354759693724121, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16529726896467642, + 0.2107429080739888, + 1.1637557632357907 + ], + "finger_b": [ + 0.1565956442906055, + 0.2339706563477552, + 1.1637557632357907 + ], + "finger_midpoint": [ + 0.16094645662764095, + 0.22235678221087202, + 1.1637557632357907 + ], + "object_minus_finger_midpoint": [ + 0.0043508123370354645, + 0.011613874136883195, + 0.0 + ], + "finger_gap": 0.02480416420357394, + "fingertip_max_gap": 0.09170908136155573, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012402082101786957, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637557632357907, + "object_top_z": 1.214062537842028, + "finger_top_clearance": 0.05030677460623734, + "fingertip_min_top_clearance": 0.015092032381871234, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012402082101786957, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048354540680777866, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1377840545808244, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3067509201977993, + -0.3800855518353846, + 0.8515395667021561 + ], + "target_position": [ + 0.3013153339136706, + -0.3805204128102587, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005452953540942436, + "xy_threshold": 0.08, + "gripper_dist": 0.1822546462996442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395667021561, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753942075090004, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08558044615844405, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15069358838453561, + "release_required_pad_clearance": 0.05279022307922203, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6280706395505736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00841212272644043, + "max_z_decrease": 0.00841212272644043, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507860818466799, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00841212272644043, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02109219264891806, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00841212272644043, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008412344776344203, + "max_button_displacement": 0.12, + "button_start": [ + 0.1570152640342713, + -0.4367818832397461, + 0.7768088579177856 + ], + "button_final": [ + 0.1570152640342713, + -0.4367818832397461, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15792148713085236, + -0.4388272681010923, + 0.8034012398222534 + ], + "closest_button": [ + 0.1569573432207108, + -0.43676236271858215, + 0.7683967351913452 + ], + "closest_ee_minus_button": [ + 0.0009641439101415461, + -0.0020649053825101404, + 0.035004504630908206 + ], + "button_min_z_position": [ + 0.1569573432207108, + -0.43676236271858215, + 0.7683967351913452 + ], + "min_active_finger_to_button": 0.14476015002442408, + "closest_active_finger": [ + 0.016879640519618988, + -0.4246157109737396, + 0.810784101486206 + ], + "closest_active_finger_button": [ + 0.1570106595754624, + -0.4367823898792267, + 0.7765675783157349 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1401310190558434, + 0.01216667890548706, + 0.03421652317047119 + ], + "min_contact_pad_to_button": 0.02109219264891806, + "closest_contact_pad": [ + 0.1569573432207108, + -0.4398333053272495, + 0.7892641715991396 + ], + "closest_contact_pad_button": [ + 0.1569573432207108, + -0.43676236271858215, + 0.7683967351913452 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030709426086673597, + 0.020867436407794426 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f18bd59c55204563b1bafc7f01ae543d40b3012dfad64893c54f39dd9aa4c57b", + "visual_seed": 3097731589338833628, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ea3ae11b3bc6aa4caa92d23d44612a6e1f8d9c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_12_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23167090091729722, + -0.05265974168105506, + 0.9972925375089335 + ], + "current_z": 0.9972925375089335, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14070603010036797, + "gripper_z": 1.0002418840761325, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2273036332472872, + -0.057119876143363876, + 1.0002418840761325 + ], + "object_minus_gripper": [ + 0.004367267670010028, + 0.004460134462308814, + -0.0029493465671989183 + ], + "object_to_gripper_xy": 0.006242261314891387, + "object_to_gripper_z": -0.0029493465671989183, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23167090091729722, + -0.07654975897993978, + 0.9972925375089335 + ], + "finger_b": [ + 0.2206039872763976, + -0.05265974168105506, + 0.9972925375089335 + ], + "finger_midpoint": [ + 0.2261374440968474, + -0.06460475033049742, + 0.9972925375089335 + ], + "object_minus_finger_midpoint": [ + 0.005533456820449811, + 0.011945008649442361, + 0.0 + ], + "finger_gap": 0.02632887206236038, + "fingertip_max_gap": 0.0928721788915742, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013164436031180195, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9972925375089335, + "object_top_z": 1.0432287017806645, + "finger_top_clearance": 0.04593616427173097, + "fingertip_min_top_clearance": 0.013780849281519292, + "object_projection_between_fingers": 0.8233195349819129, + "object_to_finger_line_xy": 0.0100417806619344, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048936089445787104, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8910418591597684, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1643876196827373, + 0.23459789712891058, + 0.7611064484101213 + ], + "gripper_position": [ + 0.1666275309069461, + 0.19686011590810865, + 1.01676670418221 + ], + "target_minus_gripper": [ + -0.0022399112242088015, + 0.03773778122080193, + -0.2556602557720886 + ], + "held_position": [ + 0.17102572045988168, + 0.20117602640306836, + 1.0136530943121413 + ], + "held_minus_target": [ + 0.0066381007771443845, + -0.03342187072584221, + 0.25254664590202003 + ], + "held_minus_gripper": [ + 0.004398189552935583, + 0.004315910494959718, + -0.00311360987006859 + ], + "xy_dist": 0.03780419730349326, + "held_xy_dist": 0.034074709459398674, + "held_gripper_dist": 0.006904036585001826, + "max_held_gripper_dist": 0.006909363498933542, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0136530943121413, + "required_height": 0.7911064484101213, + "gripper_z": 1.01676670418221, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1737292008435, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3801428261337232, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8534670079072182, + "max_source_tilt_deg": 89.90494673696024, + "source_upright_tilt_deg": 2.2396371796231604, + "max_source_upright_tilt_deg": 89.94700054013444, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8534670079072182, + "source_upright_return_tilt_deg": 2.2396371796231604, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.2818463544611077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1644, + 0.2346, + 0.7611 + ], + "controller_target_position": [ + 0.1644, + 0.2346, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0003, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.1627, + 0.2089, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0645, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017302181960419172, + -0.0002670304522302835, + -0.0010817664546415823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2396601901982414, + "source_return_step_error_deg": 1.8535213958709629, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.237184942549244, + "source_return_best_wrist_position": -1.6091927289962769, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091927289962769 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1644, + 0.2346, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1644, + 0.2346, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0003, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1627, + 0.2089, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0645, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017302181960419172, + -0.0002670304522302835, + -0.0010817664546415823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2396601901982414, + "pour_controller_source_return_step_error_deg": 1.8535213958709629, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.237184942549244, + "pour_controller_source_return_best_wrist_position": -1.6091927289962769, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091927289962769, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03780419730349326, + "valid_pour_held_xy_dist": 0.034074709459398674, + "valid_pour_held_gripper_dist": 0.006904036585001826, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0136530943121413, + "valid_pour_source_tilt_deg": 1.8534670079072182, + "valid_pour_source_upright_tilt_deg": 2.2396371796231604, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17102572045988168, + 0.17765523622733836, + 1.0136530943121413 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16011226561040037, + 0.20117602640306836, + 1.0136530943121413 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16556899303514103, + 0.18941563131520336, + 1.0136530943121413 + ], + "valid_pour_held_grasp_object_position": [ + 0.17102572045988168, + 0.20117602640306836, + 1.0136530943121413 + ], + "valid_pour_held_grasp_finger_gap": 0.02592934760541391, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023785553383424494, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02590655979642986, + -0.9992361284287222, + 0.029257645193903725 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005769712667647445, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033590178344742254, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17102572045988168, + 0.17765523622733836, + 1.0136530943121413 + ], + "held_grasp_finger_b": [ + 0.16011226561040037, + 0.20117602640306836, + 1.0136530943121413 + ], + "held_grasp_midpoint": [ + 0.16556899303514103, + 0.18941563131520336, + 1.0136530943121413 + ], + "held_grasp_object_position": [ + 0.17102572045988168, + 0.20117602640306836, + 1.0136530943121413 + ], + "held_grasp_finger_gap": 0.02592934760541391, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023785553383424494, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02590655979642986, + -0.9992361284287222, + 0.029257645193903725 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005769712667647445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033590178344742254, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21388801627202728, + -0.05238863184360877, + 0.7565870228718619 + ], + "target_position": [ + 0.21062057709420365, + -0.05228720154811173, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0032690131363488526, + "xy_threshold": 0.08, + "gripper_dist": 0.21579285698627268, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870228718619, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575225640839746, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08587043857851749, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18628395412121607, + "release_required_pad_clearance": 0.05293521928925875, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9074060325164269, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1714262701640974, + 0.2292357171605886, + 1.16166069989975 + ], + "current_z": 1.16166069989975, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3005542514896289, + "gripper_z": 1.155369595375243, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16838244320849777, + 0.22523545327216926, + 1.155369595375243 + ], + "object_minus_gripper": [ + 0.0030438269555996267, + 0.004000263888419342, + 0.006291104524507096 + ], + "object_to_gripper_xy": 0.00502662846375448, + "object_to_gripper_z": 0.006291104524507096, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1714262701640974, + 0.20588924085702134, + 1.16166069989975 + ], + "finger_b": [ + 0.16254245048923785, + 0.2292357171605886, + 1.16166069989975 + ], + "finger_midpoint": [ + 0.16698436032666764, + 0.217562479008805, + 1.16166069989975 + ], + "object_minus_finger_midpoint": [ + 0.004441909837429758, + 0.011673238151783616, + 0.0 + ], + "finger_gap": 0.024979595829565562, + "fingertip_max_gap": 0.09164728243661707, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012489797914782762, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16166069989975, + "object_top_z": 1.2118841481063067, + "finger_top_clearance": 0.050223448206556665, + "fingertip_min_top_clearance": 0.015067034461967032, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012489797914782762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04832364121830854, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0893257964764806, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31098559889231947, + -0.3867063139250601, + 0.8515395508764633 + ], + "target_position": [ + 0.30514785353171997, + -0.3873588797315224, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0058741052958697255, + "xy_threshold": 0.08, + "gripper_dist": 0.1829044202678642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395508764633, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516482114521683, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507929333537721, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15186596498799682, + "release_required_pad_clearance": 0.05253964666768861, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803748592160637, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008717060089111328, + "max_z_decrease": 0.008717060089111328, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502675750585036, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008717060089111328, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.0210060120993819, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008717060089111328, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008717256593055875, + "max_button_displacement": 0.12, + "button_start": [ + 0.16084778308868403, + -0.44362032413482666, + 0.7768088579177856 + ], + "button_final": [ + 0.16084778308868403, + -0.44362032413482666, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15988834944302655, + -0.4450967795839938, + 0.8038323179184541 + ], + "closest_button": [ + 0.1607431173324584, + -0.4436124563217163, + 0.7688474655151367 + ], + "closest_ee_minus_button": [ + -0.0008547678894318678, + -0.0014843232622774871, + 0.03498485240331739 + ], + "button_min_z_position": [ + 0.16079935431480402, + -0.44358745217323303, + 0.7680917978286743 + ], + "min_active_finger_to_button": 0.14656545085656145, + "closest_active_finger": [ + 0.01912253350019455, + -0.4286218583583832, + 0.8110122680664062 + ], + "closest_active_finger_button": [ + 0.1608444303274154, + -0.44362056255340576, + 0.7767869234085083 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14172189682722086, + 0.014998704195022583, + 0.03422534465789795 + ], + "min_contact_pad_to_button": 0.0210060120993819, + "closest_contact_pad": [ + 0.16079935431480402, + -0.44628348722762223, + 0.7889240790120897 + ], + "closest_contact_pad_button": [ + 0.16079935431480402, + -0.44358745217323303, + 0.7680917978286743 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002696035054389201, + 0.020832281183415402 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "682006d53c9bf415f8707e6d5edd06cc9190ac5aeb142c8068c640b392aa985c", + "visual_seed": 651837365006299395, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e666b527d670d667c197573bdd7781c6ee046e4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_13_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.237801866809116, + -0.05467460553914069, + 0.9978316848360649 + ], + "current_z": 0.9978316848360649, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1412451774274993, + "gripper_z": 1.0005442284508435, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23340864234746694, + -0.05900733969144581, + 1.0005442284508435 + ], + "object_minus_gripper": [ + 0.0043932244616490534, + 0.004332734152305118, + -0.002712543614778573 + ], + "object_to_gripper_xy": 0.006170332762905317, + "object_to_gripper_z": -0.002712543614778573, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.237801866809116, + -0.07883107063706918, + 0.9978316848360649 + ], + "finger_b": [ + 0.22721706439666742, + -0.05467460553914069, + 0.9978316848360649 + ], + "finger_midpoint": [ + 0.2325094656028917, + -0.06675283808810493, + 0.9978316848360649 + ], + "object_minus_finger_midpoint": [ + 0.00529240120622429, + 0.012078232548964243, + 0.0 + ], + "finger_gap": 0.026373715099280465, + "fingertip_max_gap": 0.09262664018969091, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186857549640232, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978316848360649, + "object_top_z": 1.0436555335750761, + "finger_top_clearance": 0.04582384873901124, + "fingertip_min_top_clearance": 0.013747154621703372, + "object_projection_between_fingers": 0.8389269471767148, + "object_to_finger_line_xy": 0.009694933348686985, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04881332009484546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6644264671168933, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15483016390461535, + 0.23881094713673068, + 0.7611065676194106 + ], + "gripper_position": [ + 0.15884755555949803, + 0.201670092726929, + 1.0182034292054234 + ], + "target_minus_gripper": [ + -0.004017391654882685, + 0.037140854409801666, + -0.25709686158601275 + ], + "held_position": [ + 0.16318684819693755, + 0.20595833787429788, + 1.0153349806485183 + ], + "held_minus_target": [ + 0.008356684292322197, + -0.0328526092624328, + 0.2542284130291077 + ], + "held_minus_gripper": [ + 0.0043392926374395124, + 0.004288245147368863, + -0.0028684485569050455 + ], + "xy_dist": 0.03735749592784298, + "held_xy_dist": 0.033898792127620564, + "held_gripper_dist": 0.00674140223995572, + "max_held_gripper_dist": 0.006745394823011263, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194106, + "held_z": 1.0153349806485183, + "required_height": 0.7911065676194107, + "gripper_z": 1.0182034292054234, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18090772966119, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.268618179259355, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9193971594121424, + "max_source_tilt_deg": 89.74721390899691, + "source_upright_tilt_deg": 3.093940592055924, + "max_source_upright_tilt_deg": 89.68965780926663, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9193971594121424, + "source_upright_return_tilt_deg": 3.093940592055924, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 7.450580596923828e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1548, + 0.2388, + 0.7611 + ], + "controller_target_position": [ + 0.1548, + 0.2388, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0006, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.1559, + 0.2129, + 1.0284 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0689, + 0.0659, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010490485666374253, + -0.0005823153311006655, + 0.00195442800569047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0937022837587382, + "source_return_step_error_deg": 1.9192274836359309, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.096134064538338, + "source_return_best_wrist_position": -1.6099036931991577, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099036931991577 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1548, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1548, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0006, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1559, + 0.2129, + 1.0284 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0689, + 0.0659, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010490485666374253, + -0.0005823153311006655, + 0.00195442800569047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0937022837587382, + "pour_controller_source_return_step_error_deg": 1.9192274836359309, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.096134064538338, + "pour_controller_source_return_best_wrist_position": -1.6099036931991577, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099036931991577, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03735749592784298, + "valid_pour_held_xy_dist": 0.033898792127620564, + "valid_pour_held_gripper_dist": 0.00674140223995572, + "valid_pour_required_height": 0.7911065676194107, + "valid_pour_held_z": 1.0153349806485183, + "valid_pour_source_tilt_deg": 1.9193971594121424, + "valid_pour_source_upright_tilt_deg": 3.093940592055924, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16318684819693755, + 0.18252079182972933, + 1.0153349806485183 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15228603599096913, + 0.20595833787429788, + 1.0153349806485183 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15773644209395332, + 0.1942395648520136, + 1.0153349806485183 + ], + "valid_pour_held_grasp_object_position": [ + 0.16318684819693755, + 0.20595833787429788, + 1.0153349806485183 + ], + "valid_pour_held_grasp_finger_gap": 0.02584852551580188, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023875170915124984, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04328004225782326, + -0.9985423925227707, + 0.03224791895707857 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005964230681406594, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03373442712116719, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16318684819693755, + 0.18252079182972933, + 1.0153349806485183 + ], + "held_grasp_finger_b": [ + 0.15228603599096913, + 0.20595833787429788, + 1.0153349806485183 + ], + "held_grasp_midpoint": [ + 0.15773644209395332, + 0.1942395648520136, + 1.0153349806485183 + ], + "held_grasp_object_position": [ + 0.16318684819693755, + 0.20595833787429788, + 1.0153349806485183 + ], + "held_grasp_finger_gap": 0.02584852551580188, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023875170915124984, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04328004225782326, + -0.9985423925227707, + 0.03224791895707857 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005964230681406594, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03373442712116719, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21088703640586035, + -0.05676230756237316, + 0.7565875634340953 + ], + "target_position": [ + 0.2156698002944134, + -0.05632870364779402, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0048023788655608525, + "xy_threshold": 0.08, + "gripper_dist": 0.2114786346398917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875634340953, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559046972251357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08764931024124518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18282666712058884, + "release_required_pad_clearance": 0.053824655120622594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.658558953574929, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16155997364531854, + 0.23353145691189883, + 1.1638990644623775 + ], + "current_z": 1.1638990644623775, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30279249684296683, + "gripper_z": 1.1575952862309553, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15891033666136514, + 0.2297478370426776, + 1.1575952862309553 + ], + "object_minus_gripper": [ + 0.0026496369839534017, + 0.0037836198692212386, + 0.006303778231422141 + ], + "object_to_gripper_xy": 0.0046191292969021145, + "object_to_gripper_z": 0.006303778231422141, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16155997364531854, + 0.2105059425686804, + 1.1638990644623775 + ], + "finger_b": [ + 0.1529288868003883, + 0.23353145691189883, + 1.1638990644623775 + ], + "finger_midpoint": [ + 0.15724443022285342, + 0.22201869974028962, + 1.1638990644623775 + ], + "object_minus_finger_midpoint": [ + 0.0043155434224651235, + 0.011512757171609211, + 0.0 + ], + "finger_gap": 0.024590038041745386, + "fingertip_max_gap": 0.09183337131559877, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012295019020872693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638990644623775, + "object_top_z": 1.2140734616650048, + "finger_top_clearance": 0.0501743972026274, + "fingertip_min_top_clearance": 0.015052319160788252, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012295019020872693, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048416685657799385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2221766674839125, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3024733188792652, + -0.38544407206303943, + 0.8515395753310728 + ], + "target_position": [ + 0.29833588554911067, + -0.3850925465423096, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0041523396721845915, + "xy_threshold": 0.08, + "gripper_dist": 0.18200222233772145, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395753310728, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545596413309737, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517969328269397, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15000612100676544, + "release_required_pad_clearance": 0.052589846641346985, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2438931239300568, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00841432809829712, + "max_z_decrease": 0.00841432809829712, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506018406328692, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00841432809829712, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020926392641638654, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00841432809829712, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008414897774657022, + "max_button_displacement": 0.12, + "button_start": [ + 0.1540358066558838, + -0.4413540065288544, + 0.7768088579177856 + ], + "button_final": [ + 0.1540358066558838, + -0.4413540065288544, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1557791763051148, + -0.44152009942029913, + 0.8037731740143024 + ], + "closest_button": [ + 0.1539530456066132, + -0.44132953882217413, + 0.7687610983848572 + ], + "closest_ee_minus_button": [ + 0.0018261306985016268, + -0.00019056059812500026, + 0.035012075629445194 + ], + "button_min_z_position": [ + 0.15394164621829987, + -0.4413271546363831, + 0.7683945298194885 + ], + "min_active_finger_to_button": 0.14410003188509102, + "closest_active_finger": [ + 0.014901094138622284, + -0.42595022916793823, + 0.8107845187187195 + ], + "closest_active_finger_button": [ + 0.15403211116790774, + -0.4413539171218872, + 0.7765777111053467 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13913101702928546, + 0.015403687953948975, + 0.0342068076133728 + ], + "min_contact_pad_to_button": 0.020926392641638654, + "closest_contact_pad": [ + 0.15394164621829987, + -0.4426410841794055, + 0.7892796321210814 + ], + "closest_contact_pad_button": [ + 0.15394164621829987, + -0.4413271546363831, + 0.7683945298194885 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013139295430223963, + 0.020885102301592906 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42072e0a2540c08cc0f9243492fdbf1ecb64ec22cd740c2800f12ad657990f89", + "visual_seed": 2399500777238537665, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..92d66f99fc5f2535ff6baa746de3b8c203407aff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_14_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22966045135412855, + -0.05378098721517012, + 0.9955250125334125 + ], + "current_z": 0.9955250125334125, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13893844552020218, + "gripper_z": 0.9984480042911282, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22525979135359828, + -0.058280275747055674, + 0.9984480042911282 + ], + "object_minus_gripper": [ + 0.004400660000530271, + 0.0044992885318855536, + -0.0029229917577157094 + ], + "object_to_gripper_xy": 0.006293600379228406, + "object_to_gripper_z": -0.0029229917577157094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22966045135412855, + -0.07768087034334206, + 0.9955250125334125 + ], + "finger_b": [ + 0.21850894270503635, + -0.05378098721517012, + 0.9955250125334125 + ], + "finger_midpoint": [ + 0.22408469702958245, + -0.0657309287792561, + 0.9955250125334125 + ], + "object_minus_finger_midpoint": [ + 0.0055757543245461005, + 0.011949941564085978, + 0.0 + ], + "finger_gap": 0.026373482111603237, + "fingertip_max_gap": 0.09276395523024628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013186741055801626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955250125334125, + "object_top_z": 1.0413524099616396, + "finger_top_clearance": 0.04582739742822706, + "fingertip_min_top_clearance": 0.0137482192284681, + "object_projection_between_fingers": 0.8212144958523836, + "object_to_finger_line_xy": 0.010105595927313847, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888197761512314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9967315668858692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15859178323406792, + 0.2351140584515042, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16088352037108672, + 0.19830636636051147, + 1.0172419827316947 + ], + "target_minus_gripper": [ + -0.002291737137018801, + 0.036807692090992744, + -0.2561355939262183 + ], + "held_position": [ + 0.16537334210590499, + 0.20260582938120308, + 1.014157643172494 + ], + "held_minus_target": [ + 0.006781558871837068, + -0.032508229070301126, + 0.2530512543670175 + ], + "held_minus_gripper": [ + 0.004489821734818267, + 0.0042994630206916185, + -0.003084339559200844 + ], + "xy_dist": 0.03687896766682225, + "held_xy_dist": 0.033208048693341846, + "held_gripper_dist": 0.006939526784528788, + "max_held_gripper_dist": 0.006944367339844304, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.014157643172494, + "required_height": 0.7911063888054765, + "gripper_z": 1.0172419827316947, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17377018197851, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.405671557733019, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9467270366915628, + "max_source_tilt_deg": 89.97573891270893, + "source_upright_tilt_deg": 1.9451650397278422, + "max_source_upright_tilt_deg": 89.85034151794368, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9467270366915628, + "source_upright_return_tilt_deg": 1.9451650397278422, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1586, + 0.2351, + 0.7611 + ], + "controller_target_position": [ + 0.1586, + 0.2351, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.0014, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.1581, + 0.211, + 1.0252 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.064, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004991214873754561, + 0.001365925548553245, + -0.0013072840623671671 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.945158882272716, + "source_return_step_error_deg": 1.9467348133896536, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9424641617742138, + "source_return_best_wrist_position": -1.6094863414764404, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094863414764404 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1586, + 0.2351, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1586, + 0.2351, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.0014, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1581, + 0.211, + 1.0252 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.064, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004991214873754561, + 0.001365925548553245, + -0.0013072840623671671 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.945158882272716, + "pour_controller_source_return_step_error_deg": 1.9467348133896536, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9424641617742138, + "pour_controller_source_return_best_wrist_position": -1.6094863414764404, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094863414764404, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03687896766682225, + "valid_pour_held_xy_dist": 0.033208048693341846, + "valid_pour_held_gripper_dist": 0.006939526784528788, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.014157643172494, + "valid_pour_source_tilt_deg": 1.9467270366915628, + "valid_pour_source_upright_tilt_deg": 1.9451650397278422, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16537334210590499, + 0.17888206578767465, + 1.014157643172494 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15467926408955285, + 0.20260582938120308, + 1.014157643172494 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16002630309772892, + 0.19074394758443886, + 1.014157643172494 + ], + "valid_pour_held_grasp_object_position": [ + 0.16537334210590499, + 0.20260582938120308, + 1.014157643172494 + ], + "valid_pour_held_grasp_finger_gap": 0.02602268747961, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02387533142405708, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015451354094779218, + -0.9994237779530508, + 0.030221974103105002 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005541210278836059, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033427797239930085, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16537334210590499, + 0.17888206578767465, + 1.014157643172494 + ], + "held_grasp_finger_b": [ + 0.15467926408955285, + 0.20260582938120308, + 1.014157643172494 + ], + "held_grasp_midpoint": [ + 0.16002630309772892, + 0.19074394758443886, + 1.014157643172494 + ], + "held_grasp_object_position": [ + 0.16537334210590499, + 0.20260582938120308, + 1.014157643172494 + ], + "held_grasp_finger_gap": 0.02602268747961, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02387533142405708, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015451354094779218, + -0.9994237779530508, + 0.030221974103105002 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005541210278836059, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033427797239930085, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20884107274871966, + -0.06390520586404677, + 0.7565862659220748 + ], + "target_position": [ + 0.20881258062513655, + -0.05508533837878466, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00881991350630436, + "xy_threshold": 0.08, + "gripper_dist": 0.21572944605119176, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862659220748, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521386877070681, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08732858977261983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18554758673011731, + "release_required_pad_clearance": 0.053664294886309916, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.338376867074626, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1650417404848722, + 0.23212531620970078, + 1.1613683616248158 + ], + "current_z": 1.1613683616248158, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3002619728193393, + "gripper_z": 1.1551762377899732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1624387630682612, + 0.22852060835012988, + 1.1551762377899732 + ], + "object_minus_gripper": [ + 0.002602977416611002, + 0.0036047078595708992, + 0.006192123834842578 + ], + "object_to_gripper_xy": 0.004446280488705037, + "object_to_gripper_z": 0.006192123834842578, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1650417404848722, + 0.20901197101882824, + 1.1613683616248158 + ], + "finger_b": [ + 0.15685987354075165, + 0.23212531620970078, + 1.1613683616248158 + ], + "finger_midpoint": [ + 0.16095080701281192, + 0.2205686436142645, + 1.1613683616248158 + ], + "object_minus_finger_midpoint": [ + 0.004090933472060271, + 0.011556672595436274, + 0.0 + ], + "finger_gap": 0.02451876164498777, + "fingertip_max_gap": 0.09045330515138603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012259380822493886, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613683616248158, + "object_top_z": 1.2112913231118725, + "finger_top_clearance": 0.04992296148705666, + "fingertip_min_top_clearance": 0.014976888446116998, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012259380822493886, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047726652575693015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.10067697074581947, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30369929031158127, + -0.38631510568273086, + 0.8515395244749533 + ], + "target_position": [ + 0.2984698876756599, + -0.386397345191249, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005230049260317022, + "xy_threshold": 0.08, + "gripper_dist": 0.18102778388969923, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395244749533, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520100144699006, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507363050583515, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14983190907926328, + "release_required_pad_clearance": 0.052536815252917576, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14265249245911032, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00835871696472168, + "max_z_decrease": 0.00835871696472168, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035047763298200335, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00835871696472168, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02085807240781934, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00835871696472168, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008359091539599857, + "max_button_displacement": 0.12, + "button_start": [ + 0.1541698127985, + -0.44265881180763245, + 0.7768088579177856 + ], + "button_final": [ + 0.1541698127985, + -0.44265881180763245, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1534792541292657, + -0.44080039755230505, + 0.803443792771286 + ], + "closest_button": [ + 0.1540913581848144, + -0.44264847040176386, + 0.768450140953064 + ], + "closest_ee_minus_button": [ + -0.0006121040555487067, + 0.001848072849458815, + 0.034993651818222005 + ], + "button_min_z_position": [ + 0.1540913581848144, + -0.44264847040176386, + 0.768450140953064 + ], + "min_active_finger_to_button": 0.14558620913570763, + "closest_active_finger": [ + 0.02717127650976181, + -0.5051233768463135, + 0.810742199420929 + ], + "closest_active_finger_button": [ + 0.15416438877582544, + -0.44265708327293396, + 0.7765946388244629 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12699311226606363, + -0.06246629357337952, + 0.034147560596466064 + ], + "min_contact_pad_to_button": 0.02085807240781934, + "closest_contact_pad": [ + 0.1540913581848144, + -0.44264847040176386, + 0.7893082133608833 + ], + "closest_contact_pad_button": [ + 0.1540913581848144, + -0.44264847040176386, + 0.768450140953064 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02085807240781934 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d69a333b33cb8c309766e683b70af447de9e8f54c9a1be411ca85494fece8e24", + "visual_seed": 6214532668037775317, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..98dadcb8d8db9bc48ac266d8d4a34e03111ac333 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_15_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23193713990679665, + -0.04946430966715771, + 0.9951666543870924 + ], + "current_z": 0.9951666543870924, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1385802065831716, + "gripper_z": 0.9982085511071946, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22739501923277294, + -0.05400084467822763, + 0.9982085511071946 + ], + "object_minus_gripper": [ + 0.0045421206740237086, + 0.004536535011069924, + -0.003041896720102244 + ], + "object_to_gripper_xy": 0.006419580214005958, + "object_to_gripper_z": -0.003041896720102244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23193713990679665, + -0.07351606712427738, + 0.9951666543870924 + ], + "finger_b": [ + 0.22081484561910722, + -0.04946430966715771, + 0.9951666543870924 + ], + "finger_midpoint": [ + 0.22637599276295195, + -0.06149018839571754, + 0.9951666543870924 + ], + "object_minus_finger_midpoint": [ + 0.0055611471438447024, + 0.012025878728559834, + 0.0 + ], + "finger_gap": 0.026498914449427563, + "fingertip_max_gap": 0.09287128170574885, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013249457224713773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9951666543870924, + "object_top_z": 1.0410256695178088, + "finger_top_clearance": 0.04585901513071644, + "fingertip_min_top_clearance": 0.013757704539214932, + "object_projection_between_fingers": 0.8238297389449108, + "object_to_finger_line_xy": 0.010095157863343815, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048935640852874426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9377199632475413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16099961716789812, + 0.23581320603355843, + 0.7611063292008314 + ], + "gripper_position": [ + 0.16302125135136936, + 0.1994336312362078, + 1.01894136096535 + ], + "target_minus_gripper": [ + -0.0020216341834712326, + 0.03637957479735063, + -0.2578350317645185 + ], + "held_position": [ + 0.16761892436659365, + 0.20379818594535826, + 1.015730736716055 + ], + "held_minus_target": [ + 0.006619307198695523, + -0.032015020088200175, + 0.25462440751522364 + ], + "held_minus_gripper": [ + 0.004597673015224291, + 0.004364554709150453, + -0.003210624249294858 + ], + "xy_dist": 0.036435703193540926, + "held_xy_dist": 0.03269215103107415, + "held_gripper_dist": 0.00710605678518327, + "max_held_gripper_dist": 0.007110357365699167, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008314, + "held_z": 1.015730736716055, + "required_height": 0.7911063292008315, + "gripper_z": 1.01894136096535, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16128459617573, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6640926453610394, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.894135937366942, + "max_source_tilt_deg": 89.80874039198584, + "source_upright_tilt_deg": 2.188904716324896, + "max_source_upright_tilt_deg": 89.71357183288654, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.894135937366942, + "source_upright_return_tilt_deg": 2.188904716324896, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.214684847164172e-08, + "max_target_xy_drift": 8.940696716308594e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.161, + 0.2358, + 0.7611 + ], + "controller_target_position": [ + 0.161, + 0.2358, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + 0.0006, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1593, + 0.211, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0645, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017313550309883156, + 0.0005761417782112238, + 0.0017911689704762763 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1889012421394685, + "source_return_step_error_deg": 1.8941290030310767, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1865402717121967, + "source_return_best_wrist_position": -1.6088812351226807, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6088812351226807 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.161, + 0.2358, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.161, + 0.2358, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + 0.0006, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1593, + 0.211, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0645, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017313550309883156, + 0.0005761417782112238, + 0.0017911689704762763 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1889012421394685, + "pour_controller_source_return_step_error_deg": 1.8941290030310767, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1865402717121967, + "pour_controller_source_return_best_wrist_position": -1.6088812351226807, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6088812351226807, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036435703193540926, + "valid_pour_held_xy_dist": 0.03269215103107415, + "valid_pour_held_gripper_dist": 0.00710605678518327, + "valid_pour_required_height": 0.7911063292008315, + "valid_pour_held_z": 1.015730736716055, + "valid_pour_source_tilt_deg": 1.894135937366942, + "valid_pour_source_upright_tilt_deg": 2.188904716324896, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.214684847164172e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16761892436659365, + 0.18004169045770252, + 1.015730736716055 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1567597431155418, + 0.20379818594535826, + 1.015730736716055 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16218933374106773, + 0.1919199382015304, + 1.015730736716055 + ], + "valid_pour_held_grasp_object_position": [ + 0.16761892436659365, + 0.20379818594535826, + 1.015730736716055 + ], + "valid_pour_held_grasp_finger_gap": 0.026120736882756644, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023981606869751936, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02232631983810043, + -0.9992703396970444, + 0.03098908911601516 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057052003402594765, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03345186708472569, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16761892436659365, + 0.18004169045770252, + 1.015730736716055 + ], + "held_grasp_finger_b": [ + 0.1567597431155418, + 0.20379818594535826, + 1.015730736716055 + ], + "held_grasp_midpoint": [ + 0.16218933374106773, + 0.1919199382015304, + 1.015730736716055 + ], + "held_grasp_object_position": [ + 0.16761892436659365, + 0.20379818594535826, + 1.015730736716055 + ], + "held_grasp_finger_gap": 0.026120736882756644, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023981606869751936, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02232631983810043, + -0.9992703396970444, + 0.03098908911601516 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057052003402594765, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03345186708472569, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21253028680569225, + -0.04514391445678901, + 0.7565864602977652 + ], + "target_position": [ + 0.21047511763399115, + -0.052533517975937145, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007670069132316675, + "xy_threshold": 0.08, + "gripper_dist": 0.21562463905104376, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864602977652, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584263266318818, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851396043716527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1874121830879312, + "release_required_pad_clearance": 0.05256980218582635, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2055841414672035, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16812628476419958, + 0.2300945123565651, + 1.1623968909297657 + ], + "current_z": 1.1623968909297657, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.3012905617289343, + "gripper_z": 1.1560173427301352, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16519415947813282, + 0.22612106944007943, + 1.1560173427301352 + ], + "object_minus_gripper": [ + 0.0029321252860667613, + 0.003973442916485687, + 0.0063795481996304915 + ], + "object_to_gripper_xy": 0.004938178541098162, + "object_to_gripper_z": 0.0063795481996304915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16812628476419958, + 0.20719034245256954, + 1.1623968909297657 + ], + "finger_b": [ + 0.1588151823413364, + 0.2300945123565651, + 1.1623968909297657 + ], + "finger_midpoint": [ + 0.16347073355276798, + 0.21864242740456732, + 1.1623968909297657 + ], + "object_minus_finger_midpoint": [ + 0.004655551211431602, + 0.011452084951997787, + 0.0 + ], + "finger_gap": 0.024724433811922675, + "fingertip_max_gap": 0.09123120441478175, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012362216905961343, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623968909297657, + "object_top_z": 1.2123348290492277, + "finger_top_clearance": 0.04993793811946201, + "fingertip_min_top_clearance": 0.014981381435838603, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012362216905961343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048115602207390876, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8126759984169042, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3055308297731246, + -0.37839305675342716, + 0.8515395570478104 + ], + "target_position": [ + 0.29938468907256344, + -0.3790492770837665, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006181073582561968, + "xy_threshold": 0.08, + "gripper_dist": 0.18397743470007366, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395570478104, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538047161137072, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769383723139172, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15214703774109054, + "release_required_pad_clearance": 0.05384691861569586, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7032310782200253, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008589863777160645, + "max_z_decrease": 0.008589863777160645, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507841569511862, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008589863777160645, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021080399063111502, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008589863777160645, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008590998927634147, + "max_button_displacement": 0.12, + "button_start": [ + 0.15508460998535156, + -0.4353107213973999, + 0.7768088579177856 + ], + "button_final": [ + 0.15508460998535156, + -0.4353107213973999, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1567851311106963, + -0.4366502856785057, + 0.8035972264600585 + ], + "closest_button": [ + 0.15496644377708435, + -0.4352821409702301, + 0.7685927152633667 + ], + "closest_ee_minus_button": [ + 0.0018186873336119569, + -0.0013681447082756204, + 0.03500451119669179 + ], + "button_min_z_position": [ + 0.1549506038427353, + -0.4352714121341706, + 0.768218994140625 + ], + "min_active_finger_to_button": 0.14401012490140266, + "closest_active_finger": [ + 0.016232803463935852, + -0.4183637499809265, + 0.8102025389671326 + ], + "closest_active_finger_button": [ + 0.15508411824703217, + -0.43531534075737, + 0.775969922542572 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1388513147830963, + 0.01695159077644348, + 0.03423261642456055 + ], + "min_contact_pad_to_button": 0.021080399063111502, + "closest_contact_pad": [ + 0.1549506038427353, + -0.43801342856556796, + 0.7891202996154029 + ], + "closest_contact_pad_button": [ + 0.1549506038427353, + -0.4352714121341706, + 0.768218994140625 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002742016431397376, + 0.020901305474777865 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e2631aadde5c2232608f7e65b16af1779bae4e9402dc997daafa4e3f1aa9b6c0", + "visual_seed": 2070092702083266307, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a417c3b9643b3123af7d767967950e5a1ea84a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_16_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23566565871091744, + -0.05198624821758317, + 0.995318697642335 + ], + "current_z": 0.995318697642335, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13873224983841426, + "gripper_z": 0.9982777540956693, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23104987541154637, + -0.05645363085291431, + 0.9982777540956693 + ], + "object_minus_gripper": [ + 0.004615783299371068, + 0.004467382635331141, + -0.0029590564533342745 + ], + "object_to_gripper_xy": 0.006423625384252344, + "object_to_gripper_z": -0.0029590564533342745, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23566565871091744, + -0.07622808915964943, + 0.995318697642335 + ], + "finger_b": [ + 0.22479460201182305, + -0.05198624821758317, + 0.995318697642335 + ], + "finger_midpoint": [ + 0.23023013036137024, + -0.0641071686886163, + 0.995318697642335 + ], + "object_minus_finger_midpoint": [ + 0.005435528349547192, + 0.012120920471033123, + 0.0 + ], + "finger_gap": 0.02656777608335641, + "fingertip_max_gap": 0.0928974475027684, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013283888041678198, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.995318697642335, + "object_top_z": 1.0411236023247774, + "finger_top_clearance": 0.04580490468244236, + "fingertip_min_top_clearance": 0.013741471404732707, + "object_projection_between_fingers": 0.8325700617440388, + "object_to_finger_line_xy": 0.009919325823312826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048948723751384204, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.874825329962027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16437087077755536, + 0.23398756046757171, + 0.761106508014766 + ], + "gripper_position": [ + 0.16730269691410346, + 0.1972229209475847, + 1.0169270145922262 + ], + "target_minus_gripper": [ + -0.0029318261365481046, + 0.036764639519987014, + -0.25582050657746025 + ], + "held_position": [ + 0.1719284038994461, + 0.20157111307707842, + 1.0138065528962943 + ], + "held_minus_target": [ + 0.007557533121890753, + -0.03241644739049329, + 0.2527000448815283 + ], + "held_minus_gripper": [ + 0.004625706985342648, + 0.004348192129493722, + -0.003120461695931942 + ], + "xy_dist": 0.03688135468674568, + "held_xy_dist": 0.03328576825475259, + "held_gripper_dist": 0.007073981983650889, + "max_held_gripper_dist": 0.007077446151954407, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.0138065528962943, + "required_height": 0.791106508014766, + "gripper_z": 1.0169270145922262, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16756837021215, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.332366998534376, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9269127595927156, + "max_source_tilt_deg": 89.8653601248167, + "source_upright_tilt_deg": 2.62313373672482, + "max_source_upright_tilt_deg": 89.93901248748978, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9269127595927156, + "source_upright_return_tilt_deg": 2.62313373672482, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 2.9802322387695312e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1644, + 0.234, + 0.7611 + ], + "controller_target_position": [ + 0.1644, + 0.234, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0013, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.1639, + 0.21, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0652, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004493922949171023, + 0.0012597962358564577, + -0.0015714309422910212 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.6228663842807127, + "source_return_step_error_deg": 1.9267806264965985, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.630337790391361, + "source_return_best_wrist_position": -1.608985424041748, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608985424041748 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1644, + 0.234, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1644, + 0.234, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0013, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1639, + 0.21, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0652, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004493922949171023, + 0.0012597962358564577, + -0.0015714309422910212 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.6228663842807127, + "pour_controller_source_return_step_error_deg": 1.9267806264965985, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.630337790391361, + "pour_controller_source_return_best_wrist_position": -1.608985424041748, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608985424041748, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03688135468674568, + "valid_pour_held_xy_dist": 0.03328576825475259, + "valid_pour_held_gripper_dist": 0.007073981983650889, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.0138065528962943, + "valid_pour_source_tilt_deg": 1.9269127595927156, + "valid_pour_source_upright_tilt_deg": 2.62313373672482, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1719284038994461, + 0.17779639666873845, + 1.0138065528962943 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1610846352092956, + 0.20157111307707842, + 1.0138065528962943 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16650651955437085, + 0.18968375487290845, + 1.0138065528962943 + ], + "valid_pour_held_grasp_object_position": [ + 0.1719284038994461, + 0.20157111307707842, + 1.0138065528962943 + ], + "valid_pour_held_grasp_finger_gap": 0.026130910043518925, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024097975674884226, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032107920138024326, + -0.9989521812951859, + 0.032613202081373305 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005813518466894798, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349940798746723, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1719284038994461, + 0.17779639666873845, + 1.0138065528962943 + ], + "held_grasp_finger_b": [ + 0.1610846352092956, + 0.20157111307707842, + 1.0138065528962943 + ], + "held_grasp_midpoint": [ + 0.16650651955437085, + 0.18968375487290845, + 1.0138065528962943 + ], + "held_grasp_object_position": [ + 0.1719284038994461, + 0.20157111307707842, + 1.0138065528962943 + ], + "held_grasp_finger_gap": 0.026130910043518925, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024097975674884226, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032107920138024326, + -0.9989521812951859, + 0.032613202081373305 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005813518466894798, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349940798746723, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2164328378825631, + -0.05195619289346417, + 0.75658670145324 + ], + "target_position": [ + 0.21340892874111372, + -0.05204420498221878, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0030251896838889335, + "xy_threshold": 0.08, + "gripper_dist": 0.21856929768673014, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658670145324, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593188061610494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08811777948103049, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1886360089527294, + "release_required_pad_clearance": 0.054058889740515245, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.129961220373069, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17185109959863518, + 0.2299168709605166, + 1.1602557809743166 + ], + "current_z": 1.1602557809743166, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.2991492729595506, + "gripper_z": 1.1540806463743711, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16867221921353123, + 0.2257401112025771, + 1.1540806463743711 + ], + "object_minus_gripper": [ + 0.0031788803851039438, + 0.004176759757939519, + 0.006175134599945453 + ], + "object_to_gripper_xy": 0.005248866789921572, + "object_to_gripper_z": 0.006175134599945453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17185109959863518, + 0.2068916449777401, + 1.1602557809743166 + ], + "finger_b": [ + 0.16216387345144756, + 0.2299168709605166, + 1.1602557809743166 + ], + "finger_midpoint": [ + 0.16700748652504138, + 0.21840425796912835, + 1.1602557809743166 + ], + "object_minus_finger_midpoint": [ + 0.004843613073593794, + 0.011512612991388255, + 0.0 + ], + "finger_gap": 0.024980059687372283, + "fingertip_max_gap": 0.0914694775943341, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012490029843686136, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602557809743166, + "object_top_z": 1.2105427691446384, + "finger_top_clearance": 0.050286988170321845, + "fingertip_min_top_clearance": 0.015086096451096586, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012490029843686136, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048234738797167054, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8514111473095013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30961219171725163, + -0.3832746924332381, + 0.8515395212299257 + ], + "target_position": [ + 0.3048055355481407, + -0.3833592164469112, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004807399279957865, + "xy_threshold": 0.08, + "gripper_dist": 0.18090755773392428, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395212299257, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556852642040551, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0869806307309554, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14877095249607725, + "release_required_pad_clearance": 0.0534903153654777, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9932370987245158, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008617222309112549, + "max_z_decrease": 0.008617222309112549, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035030779229126605, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008617222309112549, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02091361399777503, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008617222309112549, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008617625489413952, + "max_button_displacement": 0.12, + "button_start": [ + 0.16050545871257782, + -0.4396206736564636, + 0.7768088579177856 + ], + "button_final": [ + 0.16050545871257782, + -0.4396206736564636, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16158704742267552, + -0.4394381356979781, + 0.8032027685815992 + ], + "closest_button": [ + 0.16042503714561462, + -0.4395987391471863, + 0.7681916356086731 + ], + "closest_ee_minus_button": [ + 0.001162010277060893, + 0.00016060344920815206, + 0.03501113297292613 + ], + "button_min_z_position": [ + 0.16042503714561462, + -0.4395987391471863, + 0.7681916356086731 + ], + "min_active_finger_to_button": 0.14477238056780548, + "closest_active_finger": [ + 0.0340450182557106, + -0.5012727975845337, + 0.8104293346405029 + ], + "closest_active_finger_button": [ + 0.16050393879413602, + -0.4396241009235382, + 0.7762734889984131 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12645892053842542, + -0.06164869666099548, + 0.034155845642089844 + ], + "min_contact_pad_to_button": 0.02091361399777503, + "closest_contact_pad": [ + 0.16042503714561462, + -0.4407264964929846, + 0.7890748205625284 + ], + "closest_contact_pad_button": [ + 0.16042503714561462, + -0.4395987391471863, + 0.7681916356086731 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011277573457983414, + 0.020883184953855327 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe776e111b4ce3a76b32264a21bce8e094a873a090dffabe3ab9ffc26ed0827e", + "visual_seed": 6045206524679678681, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..01d07439ae1b6527efe82afd6ac5d2a07613734b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_17_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23312399208508336, + -0.05785044648047348, + 0.996325357583955 + ], + "current_z": 0.996325357583955, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13973890978003423, + "gripper_z": 0.9990988738220574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22885023442585792, + -0.06221434921812996, + 0.9990988738220574 + ], + "object_minus_gripper": [ + 0.004273757659225441, + 0.00436390273765648, + -0.0027735162381024026 + ], + "object_to_gripper_xy": 0.006108080847002096, + "object_to_gripper_z": -0.0027735162381024026, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23312399208508336, + -0.08174737740886341, + 0.996325357583955 + ], + "finger_b": [ + 0.2222848631561684, + -0.05785044648047348, + 0.996325357583955 + ], + "finger_midpoint": [ + 0.22770442762062587, + -0.06979891194466845, + 0.996325357583955 + ], + "object_minus_finger_midpoint": [ + 0.005419564464457488, + 0.011948465464194966, + 0.0 + ], + "finger_gap": 0.026240236731666127, + "fingertip_max_gap": 0.09280339511413829, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013120118365833069, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996325357583955, + "object_top_z": 1.042332091742048, + "finger_top_clearance": 0.04600673415809298, + "fingertip_min_top_clearance": 0.013802020247427892, + "object_projection_between_fingers": 0.8293708345248002, + "object_to_finger_line_xy": 0.009871172961851053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890169755706915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.668915444239956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15885089952606768, + 0.23798768778309295, + 0.7611063292008314 + ], + "gripper_position": [ + 0.16123079698606876, + 0.2016154847814924, + 1.0187503696252673 + ], + "target_minus_gripper": [ + -0.0023798974600010847, + 0.036372203001600545, + -0.2576440404244359 + ], + "held_position": [ + 0.16555827726780165, + 0.2058182306759749, + 1.015816341234962 + ], + "held_minus_target": [ + 0.006707377741733966, + -0.03216945710711805, + 0.25471001203413046 + ], + "held_minus_gripper": [ + 0.004327480281732882, + 0.004202745894482496, + -0.002934028390305432 + ], + "xy_dist": 0.03644998028956613, + "held_xy_dist": 0.032861267272231244, + "held_gripper_dist": 0.006708105637025602, + "max_held_gripper_dist": 0.006713260368648919, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008314, + "held_z": 1.015816341234962, + "required_height": 0.7911063292008315, + "gripper_z": 1.0187503696252673, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16515048324597, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4132028375940842, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9348496364642183, + "max_source_tilt_deg": 89.94829345014921, + "source_upright_tilt_deg": 1.9286080875620037, + "max_source_upright_tilt_deg": 89.9183170196562, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9348496364642183, + "source_upright_return_tilt_deg": 1.9286080875620037, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.0430812830142244e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1589, + 0.238, + 0.7611 + ], + "controller_target_position": [ + 0.1589, + 0.238, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + 0.0009, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1582, + 0.2135, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.064, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006134034420751991, + 0.0008644528664500627, + 0.0017242493993920639 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9285998689754988, + "source_return_step_error_deg": 1.9348468342352887, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9293351592358177, + "source_return_best_wrist_position": -1.6093655824661255, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093655824661255 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1589, + 0.238, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1589, + 0.238, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + 0.0009, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1582, + 0.2135, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.064, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006134034420751991, + 0.0008644528664500627, + 0.0017242493993920639 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9285998689754988, + "pour_controller_source_return_step_error_deg": 1.9348468342352887, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9293351592358177, + "pour_controller_source_return_best_wrist_position": -1.6093655824661255, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093655824661255, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03644998028956613, + "valid_pour_held_xy_dist": 0.032861267272231244, + "valid_pour_held_gripper_dist": 0.006708105637025602, + "valid_pour_required_height": 0.7911063292008315, + "valid_pour_held_z": 1.015816341234962, + "valid_pour_source_tilt_deg": 1.9348496364642183, + "valid_pour_source_upright_tilt_deg": 1.9286080875620037, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16555827726780165, + 0.18221003662475463, + 1.015816341234962 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15500286891111187, + 0.2058182306759749, + 1.015816341234962 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16028057308945676, + 0.19401413365036477, + 1.015816341234962 + ], + "valid_pour_held_grasp_object_position": [ + 0.16555827726780165, + 0.2058182306759749, + 1.015816341234962 + ], + "valid_pour_held_grasp_finger_gap": 0.02586046155691249, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02376742441300426, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01635212434597226, + -0.9994335446346253, + 0.029414246351767703 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0054809485798188095, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03348911610927975, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16555827726780165, + 0.18221003662475463, + 1.015816341234962 + ], + "held_grasp_finger_b": [ + 0.15500286891111187, + 0.2058182306759749, + 1.015816341234962 + ], + "held_grasp_midpoint": [ + 0.16028057308945676, + 0.19401413365036477, + 1.015816341234962 + ], + "held_grasp_object_position": [ + 0.16555827726780165, + 0.2058182306759749, + 1.015816341234962 + ], + "held_grasp_finger_gap": 0.02586046155691249, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02376742441300426, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01635212434597226, + -0.9994335446346253, + 0.029414246351767703 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0054809485798188095, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03348911610927975, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21601018374316988, + -0.05646911712970583, + 0.7565869016475055 + ], + "target_position": [ + 0.21209367204262983, + -0.05734670237824902, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004013629251553731, + "xy_threshold": 0.08, + "gripper_dist": 0.2188134877981431, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869016475055, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542349593105417, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503389050656963, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18999189031400956, + "release_required_pad_clearance": 0.05251694525328482, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467825414226012, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16593673541236426, + 0.23345949655697842, + 1.1604283736352805 + ], + "current_z": 1.1604283736352805, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.2993220444344491, + "gripper_z": 1.1541518064422094, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16302634035226915, + 0.22945071451399662, + 1.1541518064422094 + ], + "object_minus_gripper": [ + 0.0029103950600951056, + 0.004008782042981801, + 0.006276567193071125 + ], + "object_to_gripper_xy": 0.004953860401137615, + "object_to_gripper_z": 0.006276567193071125, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16593673541236426, + 0.21050239441821234, + 1.1604283736352805 + ], + "finger_b": [ + 0.15665113514051932, + 0.23345949655697842, + 1.1604283736352805 + ], + "finger_midpoint": [ + 0.16129393527644179, + 0.2219809454875954, + 1.1604283736352805 + ], + "object_minus_finger_midpoint": [ + 0.00464280013592247, + 0.01147855106938303, + 0.0 + ], + "finger_gap": 0.02476390338816208, + "fingertip_max_gap": 0.09142404692642805, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012381951694081027, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604283736352805, + "object_top_z": 1.210695618473855, + "finger_top_clearance": 0.05026724483857459, + "fingertip_min_top_clearance": 0.015080173451572376, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012381951694081027, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821202346321403, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8586098659376812, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31072865172114705, + -0.3859841005012782, + 0.8515396002383678 + ], + "target_position": [ + 0.30519885285034315, + -0.3865462548424104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005558299475091092, + "xy_threshold": 0.08, + "gripper_dist": 0.18236844042589606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396002383678, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548706008271425, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0865614983741294, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15048027426396687, + "release_required_pad_clearance": 0.0532807491870647, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5806203305582365, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008706629276275635, + "max_z_decrease": 0.008706629276275635, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503277955079661, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008706629276275635, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020879401534607593, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008706629276275635, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008706840292160487, + "max_button_displacement": 0.12, + "button_start": [ + 0.16089877486228946, + -0.4428077042102813, + 0.7768088579177856 + ], + "button_final": [ + 0.16089877486228946, + -0.4428077042102813, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16190452615142845, + -0.4419249285929131, + 0.8031088014899621 + ], + "closest_button": [ + 0.16084857285022738, + -0.4427737295627594, + 0.76810222864151 + ], + "closest_ee_minus_button": [ + 0.0010559533012010625, + 0.0008488009698462973, + 0.0350065728484521 + ], + "button_min_z_position": [ + 0.16084857285022738, + -0.4427737295627594, + 0.76810222864151 + ], + "min_active_finger_to_button": 0.14453351213679394, + "closest_active_finger": [ + 0.0346817821264267, + -0.5044046640396118, + 0.8109322190284729 + ], + "closest_active_finger_button": [ + 0.1608986258506775, + -0.44280955195426935, + 0.7767959237098694 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1262168437242508, + -0.06159511208534246, + 0.034136295318603516 + ], + "min_contact_pad_to_button": 0.020879401534607593, + "closest_contact_pad": [ + 0.16084857285022738, + -0.44315039124197514, + 0.7889782324358856 + ], + "closest_contact_pad_button": [ + 0.16084857285022738, + -0.4427737295627594, + 0.76810222864151 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00037666167921573956, + 0.020876003794375597 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f15d6cef842155d67c165bf292be198f59fcea46cf1b8e3e51c46cae125cd55b", + "visual_seed": 7575708896501899525, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..676507af00e2cf006754c84829a1e60049ef387b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_18_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23582795028392667, + -0.05579794055302775, + 0.9971145955320171 + ], + "current_z": 0.9971145955320171, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14052808812345152, + "gripper_z": 0.9998638433817615, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23161576460458788, + -0.060254459032956204, + 0.9998638433817615 + ], + "object_minus_gripper": [ + 0.004212185679338787, + 0.004456518479928451, + -0.002749247849744396 + ], + "object_to_gripper_xy": 0.006132133817780769, + "object_to_gripper_z": -0.002749247849744396, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23582795028392667, + -0.07949589201828235, + 0.9971145955320171 + ], + "finger_b": [ + 0.22465909414013324, + -0.05579794055302775, + 0.9971145955320171 + ], + "finger_midpoint": [ + 0.23024352221202996, + -0.06764691628565506, + 0.9971145955320171 + ], + "object_minus_finger_midpoint": [ + 0.005584428071896713, + 0.011848975732627304, + 0.0 + ], + "finger_gap": 0.026198019986447725, + "fingertip_max_gap": 0.09310898611278079, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01309900999322387, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971145955320171, + "object_top_z": 1.0429601830122854, + "finger_top_clearance": 0.045845587480268346, + "fingertip_min_top_clearance": 0.01375367624408052, + "object_projection_between_fingers": 0.818247473682507, + "object_to_finger_line_xy": 0.01010301583688179, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490544930563904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.400426184148908, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16192605216164202, + 0.23579595048889587, + 0.7611065080147662 + ], + "gripper_position": [ + 0.16517470470422543, + 0.19761393751347706, + 1.0162646227536798 + ], + "target_minus_gripper": [ + -0.0032486525425834134, + 0.038182012975418816, + -0.2551581147389136 + ], + "held_position": [ + 0.16949169480721973, + 0.20186436709739558, + 1.0133529805000143 + ], + "held_minus_target": [ + 0.007565642645577714, + -0.03393158339150029, + 0.2522464724852481 + ], + "held_minus_gripper": [ + 0.0043169901029943, + 0.004250429583918525, + -0.0029116422536654696 + ], + "xy_dist": 0.03831996683450398, + "held_xy_dist": 0.034764799727525005, + "held_gripper_dist": 0.00672162300419554, + "max_held_gripper_dist": 0.006726647191113768, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147662, + "held_z": 1.0133529805000143, + "required_height": 0.7911065080147662, + "gripper_z": 1.0162646227536798, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17751312564369, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3927667576075604, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.894735013077343, + "max_source_tilt_deg": 89.84734657211533, + "source_upright_tilt_deg": 1.9480715214850597, + "max_source_upright_tilt_deg": 89.97668275078196, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.894735013077343, + "source_upright_return_tilt_deg": 1.9480715214850597, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1619, + 0.2358, + 0.7611 + ], + "controller_target_position": [ + 0.1619, + 0.2358, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0003, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.1618, + 0.21, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.064, + 0.0928 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001311836517115545, + -0.00028480470393651156, + -0.0019413729391921978 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9480707748874868, + "source_return_step_error_deg": 1.894734487712871, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9458970847449018, + "source_return_best_wrist_position": -1.6094136238098145, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094136238098145 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1619, + 0.2358, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1619, + 0.2358, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0003, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1618, + 0.21, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.064, + 0.0928 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0001311836517115545, + -0.00028480470393651156, + -0.0019413729391921978 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9480707748874868, + "pour_controller_source_return_step_error_deg": 1.894734487712871, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9458970847449018, + "pour_controller_source_return_best_wrist_position": -1.6094136238098145, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094136238098145, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03831996683450398, + "valid_pour_held_xy_dist": 0.034764799727525005, + "valid_pour_held_gripper_dist": 0.00672162300419554, + "valid_pour_required_height": 0.7911065080147662, + "valid_pour_held_z": 1.0133529805000143, + "valid_pour_source_tilt_deg": 1.894735013077343, + "valid_pour_source_upright_tilt_deg": 1.9480715214850597, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16949169480721973, + 0.17824769037418034, + 1.0133529805000143 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15887900455211867, + 0.20186436709739558, + 1.0133529805000143 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1641853496796692, + 0.19005602873578797, + 1.0133529805000143 + ], + "valid_pour_held_grasp_object_position": [ + 0.16949169480721973, + 0.20186436709739558, + 1.0133529805000143 + ], + "valid_pour_held_grasp_finger_gap": 0.025891632121200346, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02379442704115415, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018034962553305122, + -0.9994220544422219, + 0.028814878451757897 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005528839925299951, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349441091657428, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16949169480721973, + 0.17824769037418034, + 1.0133529805000143 + ], + "held_grasp_finger_b": [ + 0.15887900455211867, + 0.20186436709739558, + 1.0133529805000143 + ], + "held_grasp_midpoint": [ + 0.1641853496796692, + 0.19005602873578797, + 1.0133529805000143 + ], + "held_grasp_object_position": [ + 0.16949169480721973, + 0.20186436709739558, + 1.0133529805000143 + ], + "held_grasp_finger_gap": 0.025891632121200346, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02379442704115415, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018034962553305122, + -0.9994220544422219, + 0.028814878451757897 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005528839925299951, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349441091657428, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21775057452450747, + -0.06251294601491642, + 0.7565904617932007 + ], + "target_position": [ + 0.2148418627083143, + -0.0567296093121602, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006473607019823565, + "xy_threshold": 0.08, + "gripper_dist": 0.2188938899202476, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565904617932007, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584457782553154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769726007103919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18782118414771293, + "release_required_pad_clearance": 0.053848630035519596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.702360907061264, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16906639150721336, + 0.23175081711801532, + 1.1613360906672243 + ], + "current_z": 1.1613360906672243, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.30022958265245814, + "gripper_z": 1.1549684127831488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1661839939214348, + 0.22770476753184576, + 1.1549684127831488 + ], + "object_minus_gripper": [ + 0.0028823975857785733, + 0.004046049586169553, + 0.006367677884075551 + ], + "object_to_gripper_xy": 0.004967769428651551, + "object_to_gripper_z": 0.006367677884075551, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16906639150721336, + 0.2088409169030602, + 1.1613360906672243 + ], + "finger_b": [ + 0.1596778470303449, + 0.23175081711801532, + 1.1613360906672243 + ], + "finger_midpoint": [ + 0.16437211926877915, + 0.22029586701053777, + 1.1613360906672243 + ], + "object_minus_finger_midpoint": [ + 0.004694272238434216, + 0.011454950107477546, + 0.0 + ], + "finger_gap": 0.02475900432677651, + "fingertip_max_gap": 0.0917448954161108, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012379502163388238, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613360906672243, + "object_top_z": 1.2115959717202394, + "finger_top_clearance": 0.05025988105301504, + "fingertip_min_top_clearance": 0.015077964315904512, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012379502163388238, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048372447708055405, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1463566547648574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3066237802380899, + -0.3842954779184442, + 0.8515396379525969 + ], + "target_position": [ + 0.3034665961178653, + -0.3838134693255383, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0031937664054582098, + "xy_threshold": 0.08, + "gripper_dist": 0.18111167930405114, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396379525969, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574482370852459, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0905687972051387, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1484127353995193, + "release_required_pad_clearance": 0.055284398602569354, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.678905580294619, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008532941341400146, + "max_z_decrease": 0.008532941341400146, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503983021410104, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008532941341400146, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020870673123719374, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008532941341400146, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008533091180290532, + "max_button_displacement": 0.12, + "button_start": [ + 0.15916651487350464, + -0.4400749206542968, + 0.7768088579177856 + ], + "button_final": [ + 0.15916651487350464, + -0.4400749206542968, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15965496983538047, + -0.43859813812339915, + 0.8032811022054167 + ], + "closest_button": [ + 0.15911805629730222, + -0.44006046652793884, + 0.7682759165763855 + ], + "closest_ee_minus_button": [ + 0.0005369135380782486, + 0.0014623284045396923, + 0.03500518562903121 + ], + "button_min_z_position": [ + 0.15911805629730222, + -0.44006046652793884, + 0.7682759165763855 + ], + "min_active_finger_to_button": 0.14474244394710725, + "closest_active_finger": [ + 0.031908467411994934, + -0.49999648332595825, + 0.8104921579360962 + ], + "closest_active_finger_button": [ + 0.15916390717029572, + -0.44007676839828486, + 0.7763445973396301 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12725543975830078, + -0.059919714927673395, + 0.034147560596466064 + ], + "min_contact_pad_to_button": 0.020870673123719374, + "closest_contact_pad": [ + 0.15911805629730222, + -0.44006046652793884, + 0.7891465897001049 + ], + "closest_contact_pad_button": [ + 0.15911805629730222, + -0.44006046652793884, + 0.7682759165763855 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020870673123719374 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "450018a2eb638766980950ca5936f9c215192ee602188070b74aeea8ad59388d", + "visual_seed": 7336789764999004403, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7c0b5f7a3e314bc69ecf9e7f1afff3443e11cfcd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_19_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23138379085019603, + -0.04766591619306855, + 0.9952670150078868 + ], + "current_z": 0.9952670150078868, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13868056720396604, + "gripper_z": 0.9983672907062123, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22691578232154808, + -0.052070616882237866, + 0.9983672907062123 + ], + "object_minus_gripper": [ + 0.004468008528647954, + 0.004404700689169316, + -0.003100275698325494 + ], + "object_to_gripper_xy": 0.006274112556628189, + "object_to_gripper_z": -0.003100275698325494, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23138379085019603, + -0.07185016455292491, + 0.9952670150078868 + ], + "finger_b": [ + 0.22068347580946587, + -0.04766591619306855, + 0.9952670150078868 + ], + "finger_midpoint": [ + 0.22603363332983095, + -0.05975804037299673, + 0.9952670150078868 + ], + "object_minus_finger_midpoint": [ + 0.005350157520365079, + 0.01209212417992818, + 0.0 + ], + "finger_gap": 0.026445691722889214, + "fingertip_max_gap": 0.09298390827271161, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013222845861444607, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952670150078868, + "object_top_z": 1.041132967524234, + "finger_top_clearance": 0.045865952516347175, + "fingertip_min_top_clearance": 0.013759785754904151, + "object_projection_between_fingers": 0.8362869623535023, + "object_to_finger_line_xy": 0.00978530186259968, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048991954136355806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0143497685627505, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15738595146793932, + 0.23662263710960824, + 0.7611063292008318 + ], + "gripper_position": [ + 0.16054681733396053, + 0.1998359782554872, + 1.0184872159930836 + ], + "target_minus_gripper": [ + -0.003160865866021212, + 0.036786658854121024, + -0.2573808867922518 + ], + "held_position": [ + 0.1649713479958704, + 0.20416958060912657, + 1.01522453223479 + ], + "held_minus_target": [ + 0.007585396527931082, + -0.032453056500481664, + 0.25411820303395816 + ], + "held_minus_gripper": [ + 0.00442453066190987, + 0.00433360235363936, + -0.0032626837582936385 + ], + "xy_dist": 0.036922206633304824, + "held_xy_dist": 0.03332775295019759, + "held_gripper_dist": 0.00700012044498395, + "max_held_gripper_dist": 0.007004207958816507, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008318, + "held_z": 1.01522453223479, + "required_height": 0.7911063292008318, + "gripper_z": 1.0184872159930836, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18034765414924, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5123287426604297, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9207051200030976, + "max_source_tilt_deg": 89.98543632020306, + "source_upright_tilt_deg": 3.2382318136602195, + "max_source_upright_tilt_deg": 89.6802703072118, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9207051200030976, + "source_upright_return_tilt_deg": 3.2382318136602195, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.980232233218416e-08, + "max_target_xy_drift": 1.9428737179048804e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1574, + 0.2366, + 0.7611 + ], + "controller_target_position": [ + 0.1574, + 0.2366, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + 0.0001, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1577, + 0.2114, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0691, + 0.066, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003598831657819551, + 0.00013321420322735117, + 0.0016540518940909295 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.238228074420915, + "source_return_step_error_deg": 1.9206849205764933, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2370579376530486, + "source_return_best_wrist_position": -1.609943151473999, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609943151473999 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1574, + 0.2366, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1574, + 0.2366, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + 0.0001, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1577, + 0.2114, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0691, + 0.066, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003598831657819551, + 0.00013321420322735117, + 0.0016540518940909295 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.238228074420915, + "pour_controller_source_return_step_error_deg": 1.9206849205764933, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2370579376530486, + "pour_controller_source_return_best_wrist_position": -1.609943151473999, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609943151473999, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036922206633304824, + "valid_pour_held_xy_dist": 0.03332775295019759, + "valid_pour_held_gripper_dist": 0.00700012044498395, + "valid_pour_required_height": 0.7911063292008318, + "valid_pour_held_z": 1.01522453223479, + "valid_pour_source_tilt_deg": 1.9207051200030976, + "valid_pour_source_upright_tilt_deg": 3.2382318136602195, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.980232233218416e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1649713479958704, + 0.1806736831514, + 1.01522453223479 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1540038231341904, + 0.20416958060912657, + 1.01522453223479 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1594875855650304, + 0.1924216318802633, + 1.01522453223479 + ], + "valid_pour_held_grasp_object_position": [ + 0.1649713479958704, + 0.20416958060912657, + 1.01522453223479 + ], + "valid_pour_held_grasp_finger_gap": 0.025929593111646988, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023972221117373956, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04685099993133587, + -0.9984033022376948, + 0.03155677243160548 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00603928361976795, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03372795391366529, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1649713479958704, + 0.1806736831514, + 1.01522453223479 + ], + "held_grasp_finger_b": [ + 0.1540038231341904, + 0.20416958060912657, + 1.01522453223479 + ], + "held_grasp_midpoint": [ + 0.1594875855650304, + 0.1924216318802633, + 1.01522453223479 + ], + "held_grasp_object_position": [ + 0.1649713479958704, + 0.20416958060912657, + 1.01522453223479 + ], + "held_grasp_finger_gap": 0.025929593111646988, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023972221117373956, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04685099993133587, + -0.9984033022376948, + 0.03155677243160548 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00603928361976795, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03372795391366529, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20743631501762286, + -0.049394573050448816, + 0.7565867656388893 + ], + "target_position": [ + 0.20953273093822475, + -0.04880178255760052, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0021786143028458237, + "xy_threshold": 0.08, + "gripper_dist": 0.2136886258411833, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867656388893, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576763279265977, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08705083641691404, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18426454654918065, + "release_required_pad_clearance": 0.05352541820845702, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.061951318564408, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16414273504800203, + 0.23270863252749893, + 1.1607818781468473 + ], + "current_z": 1.1607818781468473, + "required_z": 0.861106269596187, + "initial_z": 0.761106269596187, + "lift_margin": 0.29967560855066033, + "gripper_z": 1.1544874062520787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16142413435457195, + 0.22886344205116252, + 1.1544874062520787 + ], + "object_minus_gripper": [ + 0.002718600693430079, + 0.003845190476336413, + 0.006294471894768616 + ], + "object_to_gripper_xy": 0.004709169728267049, + "object_to_gripper_z": 0.006294471894768616, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16414273504800203, + 0.20961483694560226, + 1.1607818781468473 + ], + "finger_b": [ + 0.15544219757036384, + 0.23270863252749893, + 1.1607818781468473 + ], + "finger_midpoint": [ + 0.15979246630918292, + 0.2211617347365506, + 1.1607818781468473 + ], + "object_minus_finger_midpoint": [ + 0.0043502687388191075, + 0.011546897790948335, + 0.0 + ], + "finger_gap": 0.024678386227187078, + "fingertip_max_gap": 0.09181634782259993, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012339193113593543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607818781468473, + "object_top_z": 1.2110590268280998, + "finger_top_clearance": 0.05027714868125255, + "fingertip_min_top_clearance": 0.01508314460437573, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012339193113593543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048408173911299965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2155974422083822, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31043768747646455, + -0.3804194386928599, + 0.8515395636237827 + ], + "target_position": [ + 0.3054229167099207, + -0.3809291020857291, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00504060339790918, + "xy_threshold": 0.08, + "gripper_dist": 0.18369721035887282, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395636237827, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588063399542458, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852757484796448, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1507836969322175, + "release_required_pad_clearance": 0.0526378742398224, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3357175776547089, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008526027202606201, + "max_z_decrease": 0.008526027202606201, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506624583701266, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008526027202606201, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020903896299191788, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008526027202606201, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008526973142031193, + "max_button_displacement": 0.12, + "button_start": [ + 0.16112284362316132, + -0.4371905624866485, + 0.7768088579177856 + ], + "button_final": [ + 0.16112284362316132, + -0.4371905624866485, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16285189068035325, + -0.43625179765860717, + 0.8036597871371689 + ], + "closest_button": [ + 0.1610061824321747, + -0.4371646046638488, + 0.7686540484428406 + ], + "closest_ee_minus_button": [ + 0.0018457082481785347, + 0.0009128070052416559, + 0.035005738694328326 + ], + "button_min_z_position": [ + 0.16099794209003448, + -0.4371675252914428, + 0.7682828307151794 + ], + "min_active_finger_to_button": 0.1438944008703532, + "closest_active_finger": [ + 0.03532332926988602, + -0.4981229305267334, + 0.8105297684669495 + ], + "closest_active_finger_button": [ + 0.1611231118440628, + -0.4371940493583679, + 0.7763583660125732 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1257997825741768, + -0.06092888116836548, + 0.03417140245437622 + ], + "min_contact_pad_to_button": 0.020903896299191788, + "closest_contact_pad": [ + 0.16099794209003448, + -0.43752608428977635, + 0.7891836516543693 + ], + "closest_contact_pad_button": [ + 0.16099794209003448, + -0.4371675252914428, + 0.7682828307151794 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00035855899833353577, + 0.02090082093918988 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9410c00b59efbf11879159b4c07f3f658471a5e8317079fff2fe7038f167878", + "visual_seed": 7375683861283228985, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..277f6686a1e07be7e919243557b4ff28d44b2149 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_1_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2299769767085014, + -0.05536206067119185, + 0.9954038814183542 + ], + "current_z": 0.9954038814183542, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.1388174932190781, + "gripper_z": 0.9983098924047727, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.225442196660094, + -0.05977404676688833, + 0.9983098924047727 + ], + "object_minus_gripper": [ + 0.004534780048407405, + 0.004411986095696478, + -0.002906010986418517 + ], + "object_to_gripper_xy": 0.00632691484027191, + "object_to_gripper_z": -0.002906010986418517, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2299769767085014, + -0.07958085838085133, + 0.9954038814183542 + ], + "finger_b": [ + 0.21926390452027264, + -0.05536206067119185, + 0.9954038814183542 + ], + "finger_midpoint": [ + 0.22462044061438702, + -0.06747145952602158, + 0.9954038814183542 + ], + "object_minus_finger_midpoint": [ + 0.005356536094114378, + 0.012109398854829735, + 0.0 + ], + "finger_gap": 0.02648244849351373, + "fingertip_max_gap": 0.0926129423408728, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013241224246756863, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954038814183542, + "object_top_z": 1.0412513311063867, + "finger_top_clearance": 0.04584744968803245, + "fingertip_min_top_clearance": 0.013754234906409734, + "object_projection_between_fingers": 0.8363515899860331, + "object_to_finger_line_xy": 0.009797346655436318, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048806471170436405, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6647274344192031, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16184431929249382, + 0.22996438105568356, + 0.7611063888054763 + ], + "gripper_position": [ + 0.16521506461378405, + 0.19338723871906702, + 1.0168909740118732 + ], + "target_minus_gripper": [ + -0.003370745321290225, + 0.03657714233661655, + -0.2557845852063969 + ], + "held_position": [ + 0.16972472502710276, + 0.19771271310921842, + 1.0138179360816868 + ], + "held_minus_target": [ + 0.007880405734608936, + -0.03225166794646514, + 0.2527115472762105 + ], + "held_minus_gripper": [ + 0.004509660413318711, + 0.004325474390151407, + -0.0030730379301864286 + ], + "xy_dist": 0.03673212851896969, + "held_xy_dist": 0.033200465055042594, + "held_gripper_dist": 0.006963499685048752, + "max_held_gripper_dist": 0.006967687298827828, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0138179360816868, + "required_height": 0.7911063888054763, + "gripper_z": 1.0168909740118732, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18497852240651, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2190215876226467, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9084551781431986, + "max_source_tilt_deg": 89.93222006462777, + "source_upright_tilt_deg": 2.7297573072204964, + "max_source_upright_tilt_deg": 89.77969206234954, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9084551781431986, + "source_upright_return_tilt_deg": 2.7297573072204964, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.0536712127723508e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1618, + 0.23, + 0.7611 + ], + "controller_target_position": [ + 0.1618, + 0.23, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0019, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1638, + 0.2065, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0683, + 0.0654, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019777789515236293, + 0.0019453022616639842, + -0.0017495307219506202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.729754201818591, + "source_return_step_error_deg": 1.9084573331783379, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.733754401495925, + "source_return_best_wrist_position": -1.6099077463150024, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099077463150024 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1618, + 0.23, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1618, + 0.23, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0019, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1638, + 0.2065, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0683, + 0.0654, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019777789515236293, + 0.0019453022616639842, + -0.0017495307219506202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.729754201818591, + "pour_controller_source_return_step_error_deg": 1.9084573331783379, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.733754401495925, + "pour_controller_source_return_best_wrist_position": -1.6099077463150024, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099077463150024, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03673212851896969, + "valid_pour_held_xy_dist": 0.033200465055042594, + "valid_pour_held_gripper_dist": 0.006963499685048752, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0138179360816868, + "valid_pour_source_tilt_deg": 1.9084551781431986, + "valid_pour_source_upright_tilt_deg": 2.7297573072204964, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16972472502710276, + 0.17408015123249934, + 1.0138179360816868 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15886116309145903, + 0.19771271310921842, + 1.0138179360816868 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1642929440592809, + 0.18589643217085888, + 1.0138179360816868 + ], + "valid_pour_held_grasp_object_position": [ + 0.16972472502710276, + 0.19771271310921842, + 1.0138179360816868 + ], + "valid_pour_held_grasp_finger_gap": 0.026009901168334404, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023988178268267046, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.035203246701871034, + -0.9988652834392883, + 0.0320761120056292 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005856464241467084, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358856848255877, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16972472502710276, + 0.17408015123249934, + 1.0138179360816868 + ], + "held_grasp_finger_b": [ + 0.15886116309145903, + 0.19771271310921842, + 1.0138179360816868 + ], + "held_grasp_midpoint": [ + 0.1642929440592809, + 0.18589643217085888, + 1.0138179360816868 + ], + "held_grasp_object_position": [ + 0.16972472502710276, + 0.19771271310921842, + 1.0138179360816868 + ], + "held_grasp_finger_gap": 0.026009901168334404, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023988178268267046, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.035203246701871034, + -0.9988652834392883, + 0.0320761120056292 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005856464241467084, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358856848255877, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21219347645605616, + -0.062004709770119446, + 0.7565866941571825 + ], + "target_position": [ + 0.20867863967918518, + -0.0579194378701136, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0053892044000039665, + "xy_threshold": 0.08, + "gripper_dist": 0.21759751673950614, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866941571825, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754239834693432, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08920318969992234, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18763312881554434, + "release_required_pad_clearance": 0.054601594849961174, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.241236408620994, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1689736771495334, + 0.22672437672228643, + 1.1625231673778051 + ], + "current_z": 1.1625231673778051, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30141677857232885, + "gripper_z": 1.1562660672544829, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16605118922034715, + 0.2227049920966213, + 1.1562660672544829 + ], + "object_minus_gripper": [ + 0.002922487929186257, + 0.004019384625665118, + 0.006257100123322257 + ], + "object_to_gripper_xy": 0.0049695461025402, + "object_to_gripper_z": 0.006257100123322257, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1689736771495334, + 0.20370398634927567, + 1.1625231673778051 + ], + "finger_b": [ + 0.1597488008328962, + 0.22672437672228643, + 1.1625231673778051 + ], + "finger_midpoint": [ + 0.1643612389912148, + 0.21521418153578104, + 1.1625231673778051 + ], + "object_minus_finger_midpoint": [ + 0.004612438158318605, + 0.011510195186505395, + 0.0 + ], + "finger_gap": 0.02479993378989268, + "fingertip_max_gap": 0.09154242452982617, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012399966894946353, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1625231673778051, + "object_top_z": 1.212818368821629, + "finger_top_clearance": 0.05029520144382382, + "fingertip_min_top_clearance": 0.015088560433147146, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012399966894946353, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048271212264913085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9251327801112562, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.310737710097984, + -0.37890123173069645, + 0.8515395691127453 + ], + "target_position": [ + 0.30696417835848977, + -0.3785181464020455, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0037929271226848043, + "xy_threshold": 0.08, + "gripper_dist": 0.18156015319560997, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691127453, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523156645588217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09034111331115967, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15023231098010897, + "release_required_pad_clearance": 0.055170556655579836, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 5.436155648024015, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008523046970367432, + "max_z_decrease": 0.008523046970367432, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035027910077043284, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008523046970367432, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02090828102905016, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008523046970367432, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008523240402007814, + "max_button_displacement": 0.12, + "button_start": [ + 0.16266410052776337, + -0.4347796142101288, + 0.7768088579177856 + ], + "button_final": [ + 0.16266410052776337, + -0.4347796142101288, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1636697004312168, + -0.43494556842412685, + 0.8032972013596986 + ], + "closest_button": [ + 0.1626102179288864, + -0.4347597658634186, + 0.7682858109474182 + ], + "closest_ee_minus_button": [ + 0.0010594825023304, + -0.00018580256070827028, + 0.03501139041228041 + ], + "button_min_z_position": [ + 0.1626102179288864, + -0.4347597658634186, + 0.7682858109474182 + ], + "min_active_finger_to_button": 0.14483084184639589, + "closest_active_finger": [ + 0.0227045938372612, + -0.4200282394886017, + 0.8106098771095276 + ], + "closest_active_finger_button": [ + 0.16266100108623507, + -0.4347826242446899, + 0.7763975262641907 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13995640724897387, + 0.014754384756088201, + 0.034212350845336914 + ], + "min_contact_pad_to_button": 0.02090828102905016, + "closest_contact_pad": [ + 0.1626102179288864, + -0.4360131037189591, + 0.7891564927716809 + ], + "closest_contact_pad_button": [ + 0.1626102179288864, + -0.4347597658634186, + 0.7682858109474182 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012533378555405483, + 0.02087068182426266 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e8ee3704150452fbc94a56bb5ee46b1d6eeac09132d63f2e59431cbe4cbc3c13", + "visual_seed": 4109622714374558976, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0920375761c57bf83827c16f9e658183f179baff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_20_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23835822190738792, + -0.0484976801669591, + 0.9965101853632103 + ], + "current_z": 0.9965101853632103, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13992373755928955, + "gripper_z": 0.9994944523011522, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23370140721179236, + -0.05315081645164285, + 0.9994944523011522 + ], + "object_minus_gripper": [ + 0.0046568146955955625, + 0.004653136284683751, + -0.0029842669379418485 + ], + "object_to_gripper_xy": 0.00658312998451005, + "object_to_gripper_z": -0.0029842669379418485, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23835822190738792, + -0.07256741233318027, + 0.9965101853632103 + ], + "finger_b": [ + 0.22697010793971367, + -0.0484976801669591, + 0.9965101853632103 + ], + "finger_midpoint": [ + 0.2326641649235508, + -0.06053254625006969, + 0.9965101853632103 + ], + "object_minus_finger_midpoint": [ + 0.005694056983837126, + 0.012034866083110586, + 0.0 + ], + "finger_gap": 0.026627826540939453, + "fingertip_max_gap": 0.09289663792203945, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013313913270469727, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965101853632103, + "object_top_z": 1.0423529642394502, + "finger_top_clearance": 0.04584277887623989, + "fingertip_min_top_clearance": 0.013752833662871982, + "object_projection_between_fingers": 0.8170922231826349, + "object_to_finger_line_xy": 0.010294075359807824, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894831896101973, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.064313819669425, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.163731968590208, + 0.23920605142578555, + 0.7611062695961869 + ], + "gripper_position": [ + 0.16768015207124476, + 0.20107847144076166, + 1.016272266957404 + ], + "target_minus_gripper": [ + -0.00394818348103676, + 0.03812757998502389, + -0.25516599736121715 + ], + "held_position": [ + 0.17237918182946615, + 0.20557526301765056, + 1.0131180466517322 + ], + "held_minus_target": [ + 0.008647213239258156, + -0.03363078840813499, + 0.25201177705554534 + ], + "held_minus_gripper": [ + 0.004699029758221396, + 0.004496791576888898, + -0.0031542203056718066 + ], + "xy_dist": 0.03833145585957212, + "held_xy_dist": 0.03472469187419737, + "held_gripper_dist": 0.007228493680659997, + "max_held_gripper_dist": 0.007233717194666415, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961869, + "held_z": 1.0131180466517322, + "required_height": 0.7911062695961869, + "gripper_z": 1.016272266957404, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17312131400736, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5134090536459956, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8421452480721905, + "max_source_tilt_deg": 89.89760485466516, + "source_upright_tilt_deg": 2.3134279440595455, + "max_source_upright_tilt_deg": 89.89843875742015, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8421452480721905, + "source_upright_return_tilt_deg": 2.3134279440595455, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 9.541398637154219e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1637, + 0.2392, + 0.7611 + ], + "controller_target_position": [ + 0.1637, + 0.2392, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0002, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.1643, + 0.2135, + 1.0246 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0647, + 0.0929 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005518235115677672, + -0.0002158839857711002, + -0.0019086133604132246 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.313442296880691, + "source_return_step_error_deg": 1.8421739424023995, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3090241923714934, + "source_return_best_wrist_position": -1.6089035272598267, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6089035272598267 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1637, + 0.2392, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1637, + 0.2392, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0002, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1643, + 0.2135, + 1.0246 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0647, + 0.0929 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005518235115677672, + -0.0002158839857711002, + -0.0019086133604132246 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.313442296880691, + "pour_controller_source_return_step_error_deg": 1.8421739424023995, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3090241923714934, + "pour_controller_source_return_best_wrist_position": -1.6089035272598267, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6089035272598267, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03833145585957212, + "valid_pour_held_xy_dist": 0.03472469187419737, + "valid_pour_held_gripper_dist": 0.007228493680659997, + "valid_pour_required_height": 0.7911062695961869, + "valid_pour_held_z": 1.0131180466517322, + "valid_pour_source_tilt_deg": 1.8421452480721905, + "valid_pour_source_upright_tilt_deg": 2.3134279440595455, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17237918182946615, + 0.18184283902716314, + 1.0131180466517322 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1611942331451886, + 0.20557526301765056, + 1.0131180466517322 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16678670748732738, + 0.19370905102240685, + 1.0131180466517322 + ], + "valid_pour_held_grasp_object_position": [ + 0.17237918182946615, + 0.20557526301765056, + 1.0131180466517322 + ], + "valid_pour_held_grasp_finger_gap": 0.026236063453463913, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024017490076926468, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02721592441449478, + -0.9991849702525119, + 0.029810881901612074 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005923788287942066, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349588864531884, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17237918182946615, + 0.18184283902716314, + 1.0131180466517322 + ], + "held_grasp_finger_b": [ + 0.1611942331451886, + 0.20557526301765056, + 1.0131180466517322 + ], + "held_grasp_midpoint": [ + 0.16678670748732738, + 0.19370905102240685, + 1.0131180466517322 + ], + "held_grasp_object_position": [ + 0.17237918182946615, + 0.20557526301765056, + 1.0131180466517322 + ], + "held_grasp_finger_gap": 0.026236063453463913, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024017490076926468, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02721592441449478, + -0.9991849702525119, + 0.029810881901612074 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005923788287942066, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349588864531884, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21533297867993906, + -0.04796071560408227, + 0.7565863447516868 + ], + "target_position": [ + 0.2160359049383997, + -0.049607822050221684, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0017908280123304617, + "xy_threshold": 0.08, + "gripper_dist": 0.21550545558726308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863447516868, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566943792491937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655028401069, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18665436033527774, + "release_required_pad_clearance": 0.053275142005345, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5696883578456866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17077063593792446, + 0.23682705664538983, + 1.1604941548861807 + ], + "current_z": 1.1604941548861807, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.29938782568534894, + "gripper_z": 1.1540784833476865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16765214616872845, + 0.2328345469453722, + 1.1540784833476865 + ], + "object_minus_gripper": [ + 0.0031184897691960145, + 0.003992509700017632, + 0.006415671538494205 + ], + "object_to_gripper_xy": 0.005066074628873434, + "object_to_gripper_z": 0.006415671538494205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17077063593792446, + 0.21339255549529534, + 1.1604941548861807 + ], + "finger_b": [ + 0.16194785208835275, + 0.23682705664538983, + 1.1604941548861807 + ], + "finger_midpoint": [ + 0.16635924401313862, + 0.2251098060703426, + 1.1604941548861807 + ], + "object_minus_finger_midpoint": [ + 0.004411391924785846, + 0.011717250575047244, + 0.0 + ], + "finger_gap": 0.02504031467474088, + "fingertip_max_gap": 0.09158481546968336, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012520157337370436, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1604941548861807, + "object_top_z": 1.2107222326463454, + "finger_top_clearance": 0.05022807776016469, + "fingertip_min_top_clearance": 0.015068423328049373, + "object_projection_between_fingers": 0.875854290574726, + "object_to_finger_line_xy": 0.008256986421915365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829240773484168, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0164799077580584, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30469132501614515, + -0.38396175888726936, + 0.8515395594692114 + ], + "target_position": [ + 0.29886378806525615, + -0.3847142466526598, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005875919055861728, + "xy_threshold": 0.08, + "gripper_dist": 0.18393035839118602, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395594692114, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524087076871268, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510486574070218, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15272778890914318, + "release_required_pad_clearance": 0.05255243287035109, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17245846418227734, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008329391479492188, + "max_z_decrease": 0.008329391479492188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503582614782761, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008329391479492188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02086097265623743, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008329391479492188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008329550311662683, + "max_button_displacement": 0.12, + "button_start": [ + 0.15456371009349817, + -0.44097569584846497, + 0.7768088579177856 + ], + "button_final": [ + 0.15456371009349817, + -0.44097569584846497, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1547197872585128, + -0.4394583247680245, + 0.8034824598182807 + ], + "closest_button": [ + 0.1545144766569137, + -0.4409607946872711, + 0.7684794664382935 + ], + "closest_ee_minus_button": [ + 0.0002053106015990902, + 0.0015024699192466295, + 0.035002993379987246 + ], + "button_min_z_position": [ + 0.1545144766569137, + -0.4409607946872711, + 0.7684794664382935 + ], + "min_active_finger_to_button": 0.1449872840209785, + "closest_active_finger": [ + 0.02731984108686447, + -0.5015400052070618, + 0.8106912970542908 + ], + "closest_active_finger_button": [ + 0.15455858409404752, + -0.4409768283367157, + 0.7765780091285706 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12723874300718305, + -0.06056317687034607, + 0.034113287925720215 + ], + "min_contact_pad_to_button": 0.02086097265623743, + "closest_contact_pad": [ + 0.1545144766569137, + -0.4409607946872711, + 0.7893404390945309 + ], + "closest_contact_pad_button": [ + 0.1545144766569137, + -0.4409607946872711, + 0.7684794664382935 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086097265623743 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b044126efbf12d251e7ddb2a2dc91f017a31a124f72e296e537a11d70b9b421f", + "visual_seed": 4695076873466691675, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..10747cf89dd8f0561f6e9a1ecfed90ce00e2ed53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_21_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23429968761365827, + -0.055347561379417404, + 0.9980708182872565 + ], + "current_z": 0.9980708182872565, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14148431087869096, + "gripper_z": 1.0010224922036226, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22970428173364038, + -0.05977956589420233, + 1.0010224922036226 + ], + "object_minus_gripper": [ + 0.004595405880017889, + 0.004432004514784926, + -0.002951673916366082 + ], + "object_to_gripper_xy": 0.00638438871162909, + "object_to_gripper_z": -0.002951673916366082, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23429968761365827, + -0.07966307142031046, + 0.9980708182872565 + ], + "finger_b": [ + 0.22360493858535288, + -0.055347561379417404, + 0.9980708182872565 + ], + "finger_midpoint": [ + 0.2289523130995056, + -0.06750531639986393, + 0.9980708182872565 + ], + "object_minus_finger_midpoint": [ + 0.005347374514152681, + 0.012157755020446526, + 0.0 + ], + "finger_gap": 0.02656354052695555, + "fingertip_max_gap": 0.09294532056957125, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328177026347777, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9980708182872565, + "object_top_z": 1.0439019550145616, + "finger_top_clearance": 0.0458311367273051, + "fingertip_min_top_clearance": 0.01374934101819153, + "object_projection_between_fingers": 0.8379051279788828, + "object_to_finger_line_xy": 0.009789669307022724, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897266028478563, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8838739039478274, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15755785126347155, + 0.23032992144092987, + 0.7611066272240554 + ], + "gripper_position": [ + 0.16052223634489624, + 0.19278297076053336, + 1.018183007803236 + ], + "target_minus_gripper": [ + -0.0029643850814246864, + 0.03754695068039651, + -0.2570763805791805 + ], + "held_position": [ + 0.16513522882312104, + 0.1970863027660477, + 1.0150687307543094 + ], + "held_minus_target": [ + 0.00757737755964949, + -0.03324361867488218, + 0.25396210353025395 + ], + "held_minus_gripper": [ + 0.004612992478224803, + 0.004303332005514332, + -0.003114277048926528 + ], + "xy_dist": 0.037663790094825844, + "held_xy_dist": 0.03409625834725058, + "held_gripper_dist": 0.007035416653710933, + "max_held_gripper_dist": 0.007039745982629397, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240554, + "held_z": 1.0150687307543094, + "required_height": 0.7911066272240554, + "gripper_z": 1.018183007803236, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17121569122894, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6552733775773736, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0841498065983846, + "max_source_tilt_deg": 89.65505464576432, + "source_upright_tilt_deg": 2.5585775982240495, + "max_source_upright_tilt_deg": 89.88545456472052, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0841498065983846, + "source_upright_return_tilt_deg": 2.5585775982240495, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 4.712160915387242e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1576, + 0.2303, + 0.7611 + ], + "controller_target_position": [ + 0.1576, + 0.2303, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0006, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.1567, + 0.2044, + 1.0273 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008600358763515769, + -0.000608776045324924, + 0.0009563086104791316 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.55857389523555, + "source_return_step_error_deg": 2.08417455714507, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5559336475112344, + "source_return_best_wrist_position": -1.6090601682662964, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6090601682662964 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1576, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1576, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0006, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1567, + 0.2044, + 1.0273 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008600358763515769, + -0.000608776045324924, + 0.0009563086104791316 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.55857389523555, + "pour_controller_source_return_step_error_deg": 2.08417455714507, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5559336475112344, + "pour_controller_source_return_best_wrist_position": -1.6090601682662964, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6090601682662964, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037663790094825844, + "valid_pour_held_xy_dist": 0.03409625834725058, + "valid_pour_held_gripper_dist": 0.007035416653710933, + "valid_pour_required_height": 0.7911066272240554, + "valid_pour_held_z": 1.0150687307543094, + "valid_pour_source_tilt_deg": 2.0841498065983846, + "valid_pour_source_upright_tilt_deg": 2.5585775982240495, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16513522882312104, + 0.173208187943206, + 1.0150687307543094 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1545088883855261, + 0.1970863027660477, + 1.0150687307543094 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15982205860432358, + 0.18514724535462684, + 1.0150687307543094 + ], + "valid_pour_held_grasp_object_position": [ + 0.16513522882312104, + 0.1970863027660477, + 1.0150687307543094 + ], + "valid_pour_held_grasp_finger_gap": 0.026135865751653945, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02417679302922505, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030347417517296894, + -0.9990031129453111, + 0.0327385793156797 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005686310319111533, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033434310441138884, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16513522882312104, + 0.173208187943206, + 1.0150687307543094 + ], + "held_grasp_finger_b": [ + 0.1545088883855261, + 0.1970863027660477, + 1.0150687307543094 + ], + "held_grasp_midpoint": [ + 0.15982205860432358, + 0.18514724535462684, + 1.0150687307543094 + ], + "held_grasp_object_position": [ + 0.16513522882312104, + 0.1970863027660477, + 1.0150687307543094 + ], + "held_grasp_finger_gap": 0.026135865751653945, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02417679302922505, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030347417517296894, + -0.9990031129453111, + 0.0327385793156797 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005686310319111533, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033434310441138884, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2171519596453605, + -0.06836052147390492, + 0.756586445761589 + ], + "target_position": [ + 0.21226696324581248, + -0.05599351732000588, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01329684103710927, + "xy_threshold": 0.08, + "gripper_dist": 0.2164605660939293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586445761589, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593314525508467, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08832074102226369, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18399988249220217, + "release_required_pad_clearance": 0.054160370511131845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.335774781686524, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16441678230076565, + 0.22493790556738597, + 1.1633311376152644 + ], + "current_z": 1.1633311376152644, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.302224510391209, + "gripper_z": 1.1570242405593016, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16166857931408704, + 0.22107464761037493, + 1.1570242405593016 + ], + "object_minus_gripper": [ + 0.002748202986678605, + 0.003863257957011035, + 0.006306897055962768 + ], + "object_to_gripper_xy": 0.004741031712443852, + "object_to_gripper_z": 0.006306897055962768, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16441678230076565, + 0.2017530414930967, + 1.1633311376152644 + ], + "finger_b": [ + 0.15577088388554797, + 0.22493790556738597, + 1.1633311376152644 + ], + "finger_midpoint": [ + 0.1600938330931568, + 0.21334547353024133, + 1.1633311376152644 + ], + "object_minus_finger_midpoint": [ + 0.004322949207608839, + 0.011592432037144634, + 0.0 + ], + "finger_gap": 0.02474448386104533, + "fingertip_max_gap": 0.0916847644343726, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012372241930522665, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633311376152644, + "object_top_z": 1.2137271425959262, + "finger_top_clearance": 0.05039600498066177, + "fingertip_min_top_clearance": 0.015118801494198496, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012372241930522665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483423822171863, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1224114368413376, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30537158318216195, + -0.38759849996060314, + 0.8515395894069804 + ], + "target_position": [ + 0.30172073306981423, + -0.38729365954946154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003663554860936898, + "xy_threshold": 0.08, + "gripper_dist": 0.1793091046719147, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395894069804, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513756873009604, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09163389604801918, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1483005446138065, + "release_required_pad_clearance": 0.05581694802400959, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 6.834143757163561, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 145, + "max_placed_release_frames": 145 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0086783766746521, + "max_z_decrease": 0.0086783766746521, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035048857459469285, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0086783766746521, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020931828245153408, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0086783766746521, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008679359427136725, + "max_button_displacement": 0.12, + "button_start": [ + 0.15742066502571112, + -0.4435551166534424, + 0.7768088579177856 + ], + "button_final": [ + 0.15742066502571112, + -0.4435551166534424, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15894104442850382, + -0.4437771134867782, + 0.8035154302226293 + ], + "closest_button": [ + 0.15730717778205877, + -0.4435183107852936, + 0.7685056328773499 + ], + "closest_ee_minus_button": [ + 0.001633866646445048, + -0.00025880270148459505, + 0.035009797345279425 + ], + "button_min_z_position": [ + 0.1572963893413544, + -0.44351494312286377, + 0.7681304812431335 + ], + "min_active_finger_to_button": 0.1443158721359811, + "closest_active_finger": [ + 0.017913922667503357, + -0.4295761287212372, + 0.8104934692382812 + ], + "closest_active_finger_button": [ + 0.15741498768329623, + -0.4435555040836334, + 0.7762721180915833 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13950106501579287, + 0.01397937536239624, + 0.034221351146698 + ], + "min_contact_pad_to_button": 0.020931828245153408, + "closest_contact_pad": [ + 0.1572963893413544, + -0.4447783638851594, + 0.7890241453943063 + ], + "closest_contact_pad_button": [ + 0.1572963893413544, + -0.44351494312286377, + 0.7681304812431335 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012634207622956306, + 0.020893664151172775 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3c49b17694a550604958aa0ba6d6c77a225846d6942f4e72c386ab1a4669917a", + "visual_seed": 4878342903245960817, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..683a064a0de381d2d537e3000a0d6a002821f92f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_22_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23730885726181436, + -0.05422780854350324, + 0.9983481815801871 + ], + "current_z": 0.9983481815801871, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.141761614566977, + "gripper_z": 1.001080664746444, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23305828603392373, + -0.05855960629891109, + 1.001080664746444 + ], + "object_minus_gripper": [ + 0.004250571227890632, + 0.004331797755407853, + -0.0027324831662569604 + ], + "object_to_gripper_xy": 0.006068923096985839, + "object_to_gripper_z": -0.0027324831662569604, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23730885726181436, + -0.07814192312949206, + 0.9983481815801871 + ], + "finger_b": [ + 0.22655449375219336, + -0.05422780854350324, + 0.9983481815801871 + ], + "finger_midpoint": [ + 0.23193167550700386, + -0.06618486583649764, + 0.9983481815801871 + ], + "object_minus_finger_midpoint": [ + 0.0053771817548105005, + 0.011957057292994407, + 0.0 + ], + "finger_gap": 0.026221007054056316, + "fingertip_max_gap": 0.09285218749324128, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013110503527028155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983481815801871, + "object_top_z": 1.0442994853457246, + "finger_top_clearance": 0.045951303765537466, + "fingertip_min_top_clearance": 0.013785391129661222, + "object_projection_between_fingers": 0.8317826878467175, + "object_to_finger_line_xy": 0.009808207622928364, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048926093746620644, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7738551531807911, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1609609039511165, + 0.23046820421680875, + 0.7611063888054763 + ], + "gripper_position": [ + 0.16437022481260563, + 0.19242739655354912, + 1.0181980857513024 + ], + "target_minus_gripper": [ + -0.0034093208614891235, + 0.038040807663259624, + -0.2570916969458261 + ], + "held_position": [ + 0.16864511793667833, + 0.1966335303165044, + 1.0153092153490917 + ], + "held_minus_target": [ + 0.007684213985561822, + -0.03383467390030434, + 0.25420282654361537 + ], + "held_minus_gripper": [ + 0.004274893124072698, + 0.004206133762955283, + -0.0028888704022107525 + ], + "xy_dist": 0.038193278419241486, + "held_xy_dist": 0.03469628658107146, + "held_gripper_dist": 0.006656714253660413, + "max_held_gripper_dist": 0.0066614551451453525, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0153092153490917, + "required_height": 0.7911063888054763, + "gripper_z": 1.0181980857513024, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17248610641455, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6835335586153215, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8717045227851905, + "max_source_tilt_deg": 89.92973535015885, + "source_upright_tilt_deg": 2.249871734756822, + "max_source_upright_tilt_deg": 89.91694896195101, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8717045227851905, + "source_upright_return_tilt_deg": 2.249871734756822, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 9.06402249678704e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.161, + 0.2305, + 0.7611 + ], + "controller_target_position": [ + 0.161, + 0.2305, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0018, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1603, + 0.2033, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0646, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006652682863400865, + -0.00178078351791265, + 0.0017457498330291413 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2498808864036044, + "source_return_step_error_deg": 1.8717079725620014, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2508025498978763, + "source_return_best_wrist_position": -1.6092588901519775, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092588901519775 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.161, + 0.2305, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.161, + 0.2305, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0018, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1603, + 0.2033, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0646, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006652682863400865, + -0.00178078351791265, + 0.0017457498330291413 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2498808864036044, + "pour_controller_source_return_step_error_deg": 1.8717079725620014, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2508025498978763, + "pour_controller_source_return_best_wrist_position": -1.6092588901519775, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092588901519775, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038193278419241486, + "valid_pour_held_xy_dist": 0.03469628658107146, + "valid_pour_held_gripper_dist": 0.006656714253660413, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0153092153490917, + "valid_pour_source_tilt_deg": 1.8717045227851905, + "valid_pour_source_upright_tilt_deg": 2.249871734756822, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16864511793667833, + 0.17311726791431373, + 1.0153092153490917 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15800535771403648, + 0.1966335303165044, + 1.0153092153490917 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1633252378253574, + 0.18487539911540907, + 1.0153092153490917 + ], + "valid_pour_held_grasp_object_position": [ + 0.16864511793667833, + 0.1966335303165044, + 1.0153092153490917 + ], + "valid_pour_held_grasp_finger_gap": 0.0258112203307786, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0237728730722033, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02582187928841082, + -0.9992291320021848, + 0.029569787083695058 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005632339201217214, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033588527033835816, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16864511793667833, + 0.17311726791431373, + 1.0153092153490917 + ], + "held_grasp_finger_b": [ + 0.15800535771403648, + 0.1966335303165044, + 1.0153092153490917 + ], + "held_grasp_midpoint": [ + 0.1633252378253574, + 0.18487539911540907, + 1.0153092153490917 + ], + "held_grasp_object_position": [ + 0.16864511793667833, + 0.1966335303165044, + 1.0153092153490917 + ], + "held_grasp_finger_gap": 0.0258112203307786, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0237728730722033, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02582187928841082, + -0.9992291320021848, + 0.029569787083695058 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005632339201217214, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033588527033835816, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21179950085970503, + -0.05362297518657911, + 0.7565879713462422 + ], + "target_position": [ + 0.21565070107567916, + -0.05383449078095073, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003857004271475667, + "xy_threshold": 0.08, + "gripper_dist": 0.21509668377312494, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879713462422, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570952883069179, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09225029450387119, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18622832735191383, + "release_required_pad_clearance": 0.0561251472519356, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.516450159142904, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16832200112424842, + 0.22525355259464536, + 1.163961758251133 + ], + "current_z": 1.163961758251133, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3028553694456567, + "gripper_z": 1.1578499050499869, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16526176633937542, + 0.22115583045881265, + 1.1578499050499869 + ], + "object_minus_gripper": [ + 0.003060234784872995, + 0.004097722135832704, + 0.006111853201146156 + ], + "object_to_gripper_xy": 0.005114329246444739, + "object_to_gripper_z": 0.006111853201146156, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16832200112424842, + 0.20223138738205498, + 1.163961758251133 + ], + "finger_b": [ + 0.15884592946921805, + 0.22525355259464536, + 1.163961758251133 + ], + "finger_midpoint": [ + 0.16358396529673325, + 0.21374246998835017, + 1.163961758251133 + ], + "object_minus_finger_midpoint": [ + 0.004738035827515169, + 0.011511082606295187, + 0.0 + ], + "finger_gap": 0.024896104616728223, + "fingertip_max_gap": 0.09139318835419533, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012448052308364106, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163961758251133, + "object_top_z": 1.214342184372451, + "finger_top_clearance": 0.05038042612131788, + "fingertip_min_top_clearance": 0.01511412783639533, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012448052308364106, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048196594177097665, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9212963591204031, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3076483126706441, + -0.3808035379687206, + 0.851539572111322 + ], + "target_position": [ + 0.30323727366162434, + -0.38112497411243196, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0044227351643047605, + "xy_threshold": 0.08, + "gripper_dist": 0.18377753085582607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539572111322, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562154317620938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08778709045507686, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1514205799187349, + "release_required_pad_clearance": 0.053893545227538434, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7968754868527483, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008480191230773926, + "max_z_decrease": 0.008480191230773926, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500976190084948, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008480191230773926, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020926858179076985, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008480191230773926, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008480496449500613, + "max_button_displacement": 0.12, + "button_start": [ + 0.15893720090389246, + -0.4373864233493805, + 0.7768088579177856 + ], + "button_final": [ + 0.15893720090389246, + -0.4373864233493805, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15944512870296376, + -0.4376263638539451, + 0.8033939235961433 + ], + "closest_button": [ + 0.15886819362640373, + -0.43736645579338074, + 0.768389880657196 + ], + "closest_ee_minus_button": [ + 0.0005769350765600367, + -0.0002599080605643622, + 0.03500404293894721 + ], + "button_min_z_position": [ + 0.15886919200420374, + -0.437362939119339, + 0.7683286666870117 + ], + "min_active_finger_to_button": 0.14529861005694683, + "closest_active_finger": [ + 0.018660910427570343, + -0.4211157560348511, + 0.8106008768081665 + ], + "closest_active_finger_button": [ + 0.15893481671810142, + -0.4373891651630401, + 0.776394248008728 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14027390629053108, + 0.01627340912818903, + 0.03420662879943848 + ], + "min_contact_pad_to_button": 0.020926858179076985, + "closest_contact_pad": [ + 0.15886919200420374, + -0.4388322331368128, + 0.7892038808975873 + ], + "closest_contact_pad_button": [ + 0.15886919200420374, + -0.437362939119339, + 0.7683286666870117 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00146929401747381, + 0.020875214210575588 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5c13f66681453421075cb24264cfe164d23c1baed17ef6789e3c70c07ce5f942", + "visual_seed": 5480912914711953117, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..52905df88279d9576d82fd50192e4f7228d70532 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_23_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23266089621289485, + -0.05060921402623321, + 0.9954598824420815 + ], + "current_z": 0.9954598824420815, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13887337503351593, + "gripper_z": 0.997992799318181, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22832395833210847, + -0.055009490702903355, + 0.997992799318181 + ], + "object_minus_gripper": [ + 0.0043369378807863734, + 0.004400276676670145, + -0.002532916876099467 + ], + "object_to_gripper_xy": 0.006178305998657484, + "object_to_gripper_z": -0.002532916876099467, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23266089621289485, + -0.07451381988583096, + 0.9954598824420815 + ], + "finger_b": [ + 0.22172011755285104, + -0.05060921402623321, + 0.9954598824420815 + ], + "finger_midpoint": [ + 0.22719050688287296, + -0.06256151695603208, + 0.9954598824420815 + ], + "object_minus_finger_midpoint": [ + 0.005470389330021891, + 0.011952302929798875, + 0.0 + ], + "finger_gap": 0.026289367032904864, + "fingertip_max_gap": 0.09330212330078894, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013144683516452427, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954598824420815, + "object_top_z": 1.0413088027232706, + "finger_top_clearance": 0.04584892028118914, + "fingertip_min_top_clearance": 0.01375467608435676, + "object_projection_between_fingers": 0.8268046592642745, + "object_to_finger_line_xy": 0.009948318700031725, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04915106165039447, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2355592600686465, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16107467431683153, + 0.23843768794998593, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16463359114208012, + 0.20250121238748298, + 1.0189495116717133 + ], + "target_minus_gripper": [ + -0.003558916825248587, + 0.035936475562502956, + -0.2578431228662369 + ], + "held_position": [ + 0.16901593964412923, + 0.2067600872267611, + 1.0162544244397993 + ], + "held_minus_target": [ + 0.007941265327297692, + -0.03167760072322484, + 0.25514803563432287 + ], + "held_minus_gripper": [ + 0.004382348502049105, + 0.004258874839278115, + -0.0026950872319140284 + ], + "xy_dist": 0.036112271665230504, + "held_xy_dist": 0.03265783340300755, + "held_gripper_dist": 0.006678808911600499, + "max_held_gripper_dist": 0.006688234530835378, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0162544244397993, + "required_height": 0.7911063888054765, + "gripper_z": 1.0189495116717133, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16146901128333, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.946851148156351, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8692228177211612, + "max_source_tilt_deg": 89.73927852663299, + "source_upright_tilt_deg": 2.5059764002126266, + "max_source_upright_tilt_deg": 89.67056648143026, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8692228177211612, + "source_upright_return_tilt_deg": 2.5059764002126266, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 8.688795409866125e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1611, + 0.2384, + 0.7611 + ], + "controller_target_position": [ + 0.1611, + 0.2384, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0015, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.1627, + 0.2147, + 1.0284 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.065, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016608416634381774, + 0.0015127629857675648, + 0.001996827021453972 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.50597088170781, + "source_return_step_error_deg": 1.8692370692686058, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5124026516235367, + "source_return_best_wrist_position": -1.6087062358856201, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087062358856201 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1611, + 0.2384, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1611, + 0.2384, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0015, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1627, + 0.2147, + 1.0284 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.065, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016608416634381774, + 0.0015127629857675648, + 0.001996827021453972 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.50597088170781, + "pour_controller_source_return_step_error_deg": 1.8692370692686058, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5124026516235367, + "pour_controller_source_return_best_wrist_position": -1.6087062358856201, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087062358856201, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036112271665230504, + "valid_pour_held_xy_dist": 0.03265783340300755, + "valid_pour_held_gripper_dist": 0.006678808911600499, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0162544244397993, + "valid_pour_source_tilt_deg": 1.8692228177211612, + "valid_pour_source_upright_tilt_deg": 2.5059764002126266, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16901593964412923, + 0.18315370898289857, + 1.0162544244397993 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15830590326653773, + 0.2067600872267611, + 1.0162544244397993 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16366092145533348, + 0.19495689810482983, + 1.0162544244397993 + ], + "valid_pour_held_grasp_object_position": [ + 0.16901593964412923, + 0.2067600872267611, + 1.0162544244397993 + ], + "valid_pour_held_grasp_finger_gap": 0.02592230647534357, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023900868285927565, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02960451333725842, + -0.999043674871059, + 0.03217621000357195 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005714562562838351, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03356685623762992, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16901593964412923, + 0.18315370898289857, + 1.0162544244397993 + ], + "held_grasp_finger_b": [ + 0.15830590326653773, + 0.2067600872267611, + 1.0162544244397993 + ], + "held_grasp_midpoint": [ + 0.16366092145533348, + 0.19495689810482983, + 1.0162544244397993 + ], + "held_grasp_object_position": [ + 0.16901593964412923, + 0.2067600872267611, + 1.0162544244397993 + ], + "held_grasp_finger_gap": 0.02592230647534357, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023900868285927565, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02960451333725842, + -0.999043674871059, + 0.03217621000357195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005714562562838351, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03356685623762992, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2145365470292791, + -0.04984897905242063, + 0.7565863389866387 + ], + "target_position": [ + 0.21125953155265909, + -0.050587442105704886, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003359190098085104, + "xy_threshold": 0.08, + "gripper_dist": 0.21826676439430892, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863389866387, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526658596086404, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658448094555994, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1898999620667527, + "release_required_pad_clearance": 0.05329224047277997, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.60323725578318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16815438462149446, + 0.23411917513081573, + 1.1607944619345674 + ], + "current_z": 1.1607944619345674, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.29968807312909096, + "gripper_z": 1.1545155886345033, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16499316986481855, + 0.2301150210408319, + 1.1545155886345033 + ], + "object_minus_gripper": [ + 0.003161214756675912, + 0.004004154089983836, + 0.006278873300064047 + ], + "object_to_gripper_xy": 0.0051016202048133515, + "object_to_gripper_z": 0.006278873300064047, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16815438462149446, + 0.21067790968820926, + 1.1607944619345674 + ], + "finger_b": [ + 0.15928675508063267, + 0.23411917513081573, + 1.1607944619345674 + ], + "finger_midpoint": [ + 0.16372056985106356, + 0.2223985424095125, + 1.1607944619345674 + ], + "object_minus_finger_midpoint": [ + 0.004433814770430894, + 0.01172063272130322, + 0.0 + ], + "finger_gap": 0.02506247751569467, + "fingertip_max_gap": 0.09125897403532279, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012531238757847321, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607944619345674, + "object_top_z": 1.2109545374458954, + "finger_top_clearance": 0.05016007551132806, + "fingertip_min_top_clearance": 0.015048022653398418, + "object_projection_between_fingers": 0.8748107371225904, + "object_to_finger_line_xy": 0.008294010749091658, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481294870176614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8822828834248585, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3094970894274044, + -0.38515565878158253, + 0.8515395592964453 + ], + "target_position": [ + 0.30349468997082535, + -0.3858376479400251, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0060410188253781855, + "xy_threshold": 0.08, + "gripper_dist": 0.1808369810132416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395592964453, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551528503905228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511414402622784, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1488880926282591, + "release_required_pad_clearance": 0.05255707201311392, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18130816637485006, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008524775505065918, + "max_z_decrease": 0.008524775505065918, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501826270964275, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008524775505065918, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02081750363839663, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008524775505065918, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008524897898982673, + "max_button_displacement": 0.12, + "button_start": [ + 0.15919461846351626, + -0.44209909439086914, + 0.7768088579177856 + ], + "button_final": [ + 0.15919461846351626, + -0.44209909439086914, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15805407711082137, + -0.4409007627929767, + 0.8032649175270419 + ], + "closest_button": [ + 0.1591494232416153, + -0.4420924484729767, + 0.7682840824127197 + ], + "closest_ee_minus_button": [ + -0.0010953461307939283, + 0.0011916856799999986, + 0.03498083511432215 + ], + "button_min_z_position": [ + 0.1591494232416153, + -0.4420924484729767, + 0.7682840824127197 + ], + "min_active_finger_to_button": 0.1462622431868132, + "closest_active_finger": [ + 0.03144652396440506, + -0.5046406388282776, + 0.8105108737945557 + ], + "closest_active_finger_button": [ + 0.15918670594692233, + -0.4420999586582184, + 0.7763970494270325 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12774018198251727, + -0.0625406801700592, + 0.03411382436752319 + ], + "min_contact_pad_to_button": 0.02081750363839663, + "closest_contact_pad": [ + 0.1591494232416153, + -0.4420924484729767, + 0.7891015860511164 + ], + "closest_contact_pad_button": [ + 0.1591494232416153, + -0.4420924484729767, + 0.7682840824127197 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02081750363839663 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55378e494f2bc56c7cb6eee76f793dce3521c1bcacd6acb99e9d5c898f5b3273", + "visual_seed": 6753324890925885747, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0a0b3bdaba7653dee9c7ad4cd84bdcf398a21c00 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_24_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23881864440527184, + -0.05727727784359277, + 0.9972096438358113 + ], + "current_z": 0.9972096438358113, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14062319603189055, + "gripper_z": 0.999862874513926, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2348147758465125, + -0.06158036230917409, + 0.999862874513926 + ], + "object_minus_gripper": [ + 0.004003868558759338, + 0.004303084465581315, + -0.0026532306781146264 + ], + "object_to_gripper_xy": 0.005877712084965443, + "object_to_gripper_z": -0.0026532306781146264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23881864440527184, + -0.08079722174250922, + 0.9972096438358113 + ], + "finger_b": [ + 0.22782342056956745, + -0.05727727784359277, + 0.9972096438358113 + ], + "finger_midpoint": [ + 0.23332103248741964, + -0.069037249793051, + 0.9972096438358113 + ], + "object_minus_finger_midpoint": [ + 0.0054976119178521965, + 0.011759971949458221, + 0.0 + ], + "finger_gap": 0.02596310282314922, + "fingertip_max_gap": 0.09355337985698564, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012981551411574609, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9972096438358113, + "object_top_z": 1.0430015980456486, + "finger_top_clearance": 0.04579195420983728, + "fingertip_min_top_clearance": 0.013737586262951167, + "object_projection_between_fingers": 0.8206526502970306, + "object_to_finger_line_xy": 0.009960560166222394, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04927668992849282, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.679629756875581, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15954805035252184, + 0.23165271242126892, + 0.7611063888054767 + ], + "gripper_position": [ + 0.16215105308199737, + 0.19582557940425446, + 1.0189364875180003 + ], + "target_minus_gripper": [ + -0.0026030027294755287, + 0.035827133017014456, + -0.2578300987125236 + ], + "held_position": [ + 0.1662930587798946, + 0.19989481795890837, + 1.0161300768774626 + ], + "held_minus_target": [ + 0.006745008427372745, + -0.03175789446236055, + 0.25502368807198594 + ], + "held_minus_gripper": [ + 0.004142005697897216, + 0.004069238554653909, + -0.00280641064053766 + ], + "xy_dist": 0.03592156849900216, + "held_xy_dist": 0.03246627479967112, + "held_gripper_dist": 0.006449097169326714, + "max_held_gripper_dist": 0.006456649158775095, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0161300768774626, + "required_height": 0.7911063888054767, + "gripper_z": 1.0189364875180003, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16950814393643, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6329757331325823, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0236037929492894, + "max_source_tilt_deg": 89.6567848335483, + "source_upright_tilt_deg": 2.0529905626936675, + "max_source_upright_tilt_deg": 89.75363084249834, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0236037929492894, + "source_upright_return_tilt_deg": 2.0529905626936675, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1595, + 0.2317, + 0.7611 + ], + "controller_target_position": [ + 0.1595, + 0.2317, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0012, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1582, + 0.2075, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0642, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013144626376459048, + 0.0011707058755318967, + 0.0017018489011224893 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.0529787291633457, + "source_return_step_error_deg": 2.0235895646397384, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0487370732914116, + "source_return_best_wrist_position": -1.6094496250152588, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094496250152588 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1595, + 0.2317, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1595, + 0.2317, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0012, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1582, + 0.2075, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0642, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013144626376459048, + 0.0011707058755318967, + 0.0017018489011224893 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.0529787291633457, + "pour_controller_source_return_step_error_deg": 2.0235895646397384, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0487370732914116, + "pour_controller_source_return_best_wrist_position": -1.6094496250152588, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094496250152588, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03592156849900216, + "valid_pour_held_xy_dist": 0.03246627479967112, + "valid_pour_held_gripper_dist": 0.006449097169326714, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0161300768774626, + "valid_pour_source_tilt_deg": 2.0236037929492894, + "valid_pour_source_upright_tilt_deg": 2.0529905626936675, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1662930587798946, + 0.17632397183709766, + 1.0161300768774626 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15605565288271986, + 0.19989481795890837, + 1.0161300768774626 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16117435583130724, + 0.18810939489800302, + 1.0161300768774626 + ], + "valid_pour_held_grasp_object_position": [ + 0.1662930587798946, + 0.19989481795890837, + 1.0161300768774626 + ], + "valid_pour_held_grasp_finger_gap": 0.025698040127635935, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023715979485828022, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015654625798631038, + -0.9993581310414795, + 0.03222202061301926 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0053160605713049374, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350249798136573, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1662930587798946, + 0.17632397183709766, + 1.0161300768774626 + ], + "held_grasp_finger_b": [ + 0.15605565288271986, + 0.19989481795890837, + 1.0161300768774626 + ], + "held_grasp_midpoint": [ + 0.16117435583130724, + 0.18810939489800302, + 1.0161300768774626 + ], + "held_grasp_object_position": [ + 0.1662930587798946, + 0.19989481795890837, + 1.0161300768774626 + ], + "held_grasp_finger_gap": 0.025698040127635935, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023715979485828022, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015654625798631038, + -0.9993581310414795, + 0.03222202061301926 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0053160605713049374, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350249798136573, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22200153467580042, + -0.05521879139008324, + 0.7565863716526909 + ], + "target_position": [ + 0.2177608715589604, + -0.05788832111099128, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005010949271479269, + "xy_threshold": 0.08, + "gripper_dist": 0.21900976418912393, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863716526909, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576547948357817, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666793744939146, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18961371641132765, + "release_required_pad_clearance": 0.05333396872469573, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.685117668792183, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16630495639505838, + 0.2269580116424066, + 1.1607840863434626 + ], + "current_z": 1.1607840863434626, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.2996776975379861, + "gripper_z": 1.1544015043429434, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.163515080509236, + 0.2231734633456508, + 1.1544015043429434 + ], + "object_minus_gripper": [ + 0.002789875885822385, + 0.0037845482967557853, + 0.006382582000519221 + ], + "object_to_gripper_xy": 0.0047017244994544665, + "object_to_gripper_z": 0.006382582000519221, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16630495639505838, + 0.203756809051506, + 1.1607840863434626 + ], + "finger_b": [ + 0.15778271101102925, + 0.2269580116424066, + 1.1607840863434626 + ], + "finger_midpoint": [ + 0.16204383370304382, + 0.2153574103469563, + 1.1607840863434626 + ], + "object_minus_finger_midpoint": [ + 0.004261122692014563, + 0.011600601295450291, + 0.0 + ], + "finger_gap": 0.024716886293577062, + "fingertip_max_gap": 0.09136071632027976, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012358443146788531, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607840863434626, + "object_top_z": 1.2108600052775484, + "finger_top_clearance": 0.050075918934085806, + "fingertip_min_top_clearance": 0.015022775680225774, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012358443146788531, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818035816013988, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8972302227197902, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3074412842531252, + -0.3790356337017069, + 0.8515395970160152 + ], + "target_position": [ + 0.30228591405619315, + -0.3793026139926891, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0051622785999196515, + "xy_threshold": 0.08, + "gripper_dist": 0.18173384186318575, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395970160152, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591111848666955, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552081757615297, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1488556799419657, + "release_required_pad_clearance": 0.05276040878807649, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5706105394929314, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008394956588745117, + "max_z_decrease": 0.008394956588745117, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035056671109714305, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008394956588745117, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02106612709243917, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008394956588745117, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008395127956922523, + "max_button_displacement": 0.12, + "button_start": [ + 0.15798583626747126, + -0.4355640709400177, + 0.7768088579177856 + ], + "button_final": [ + 0.15798583626747126, + -0.4355640709400177, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15858928841107517, + -0.43749153936378593, + 0.8034773238975851 + ], + "closest_button": [ + 0.15793505311012265, + -0.43554845452308655, + 0.768480658531189 + ], + "closest_ee_minus_button": [ + 0.0006542353009525159, + -0.0019430848406993828, + 0.03499666536639612 + ], + "button_min_z_position": [ + 0.15793530642986295, + -0.43554607033729553, + 0.7684139013290405 + ], + "min_active_finger_to_button": 0.1450454707445675, + "closest_active_finger": [ + 0.017629973590373993, + -0.4225238263607025, + 0.8107372522354126 + ], + "closest_active_finger_button": [ + 0.15798163414001462, + -0.43556535243988037, + 0.7765390276908875 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14035166054964063, + 0.013041526079177856, + 0.034198224544525146 + ], + "min_contact_pad_to_button": 0.02106612709243917, + "closest_contact_pad": [ + 0.15793530642986295, + -0.43856411444770593, + 0.7892627171328798 + ], + "closest_contact_pad_button": [ + 0.15793530642986295, + -0.43554607033729553, + 0.7684139013290405 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030180441104104005, + 0.020848815803839238 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5847aa603cb14c21f9b2989454ed8f2dcf9164f832de256da43c9ea0e8157cb8", + "visual_seed": 4609736219819810450, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a134a1b36e6537f454f280ffe9dbe1c0b0616ea9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_25_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23914795574470527, + -0.04799402215574204, + 0.9957869966948043 + ], + "current_z": 0.9957869966948043, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.13920042968159418, + "gripper_z": 0.9981918741003132, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23442015209219658, + -0.052670793551404915, + 0.9981918741003132 + ], + "object_minus_gripper": [ + 0.004727803652508689, + 0.004676771395662874, + -0.002404877405508876 + ], + "object_to_gripper_xy": 0.006650136695133789, + "object_to_gripper_z": -0.002404877405508876, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23914795574470527, + -0.07215175860447497, + 0.9957869966948043 + ], + "finger_b": [ + 0.22776479019219362, + -0.04799402215574204, + 0.9957869966948043 + ], + "finger_midpoint": [ + 0.23345637296844945, + -0.060072890380108504, + 0.9957869966948043 + ], + "object_minus_finger_midpoint": [ + 0.00569158277625581, + 0.012078868224366462, + 0.0 + ], + "finger_gap": 0.026705293264113895, + "fingertip_max_gap": 0.09237795118904643, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013352646632056943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9957869966948043, + "object_top_z": 1.041600135519296, + "finger_top_clearance": 0.045813138824491784, + "fingertip_min_top_clearance": 0.013743941647347518, + "object_projection_between_fingers": 0.8183098425982851, + "object_to_finger_line_xy": 0.010297266188025749, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04868897559452322, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6372919624570292, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1599225910391292, + 0.23173098822102028, + 0.7611063888054763 + ], + "gripper_position": [ + 0.16469583563716025, + 0.19332366666851242, + 1.01701526410587 + ], + "target_minus_gripper": [ + -0.004773244598031051, + 0.03840732155250787, + -0.25590887530039375 + ], + "held_position": [ + 0.1695215198161667, + 0.19781320659491763, + 1.0144440490266435 + ], + "held_minus_target": [ + 0.009598928777037496, + -0.03391778162610265, + 0.2533376602211672 + ], + "held_minus_gripper": [ + 0.004825684179006445, + 0.004489539926405217, + -0.00257121507922653 + ], + "xy_dist": 0.038702793346609594, + "held_xy_dist": 0.035249898497763436, + "held_gripper_dist": 0.007074909436165354, + "max_held_gripper_dist": 0.007078503942179707, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0144440490266435, + "required_height": 0.7911063888054763, + "gripper_z": 1.01701526410587, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17112689876973, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2297115252489452, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0024707614521264, + "max_source_tilt_deg": 89.9208639466906, + "source_upright_tilt_deg": 1.7483882073378623, + "max_source_upright_tilt_deg": 89.81363898498024, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0024707614521264, + "source_upright_return_tilt_deg": 1.7483882073378623, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.2731557704981462e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1599, + 0.2317, + 0.7611 + ], + "controller_target_position": [ + 0.1599, + 0.2317, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.001, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.1618, + 0.2053, + 1.0261 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.0634, + 0.0929 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018833519827799435, + -0.0009505955725913019, + -0.00040106778975452823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.7483784636124207, + "source_return_step_error_deg": 2.0024651285810844, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0071702236630387, + "source_return_best_wrist_position": -1.608949065208435, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.608949065208435 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1599, + 0.2317, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1599, + 0.2317, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.001, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1618, + 0.2053, + 1.0261 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.0634, + 0.0929 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018833519827799435, + -0.0009505955725913019, + -0.00040106778975452823 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.7483784636124207, + "pour_controller_source_return_step_error_deg": 2.0024651285810844, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0071702236630387, + "pour_controller_source_return_best_wrist_position": -1.608949065208435, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.608949065208435, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038702793346609594, + "valid_pour_held_xy_dist": 0.035249898497763436, + "valid_pour_held_gripper_dist": 0.007074909436165354, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0144440490266435, + "valid_pour_source_tilt_deg": 2.0024707614521264, + "valid_pour_source_upright_tilt_deg": 1.7483882073378623, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1695215198161667, + 0.17378947601201525, + 1.0144440490266435 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15861851499224852, + 0.19781320659491763, + 1.0144440490266435 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16407001740420762, + 0.18580134130346643, + 1.0144440490266435 + ], + "valid_pour_held_grasp_object_position": [ + 0.1695215198161667, + 0.19781320659491763, + 1.0144440490266435 + ], + "valid_pour_held_grasp_finger_gap": 0.026382098955736302, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024095713521968678, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0076278980558575175, + -0.9995344573901841, + 0.02954121969316314 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055542763231126975, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033235535214125804, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1695215198161667, + 0.17378947601201525, + 1.0144440490266435 + ], + "held_grasp_finger_b": [ + 0.15861851499224852, + 0.19781320659491763, + 1.0144440490266435 + ], + "held_grasp_midpoint": [ + 0.16407001740420762, + 0.18580134130346643, + 1.0144440490266435 + ], + "held_grasp_object_position": [ + 0.1695215198161667, + 0.19781320659491763, + 1.0144440490266435 + ], + "held_grasp_finger_gap": 0.026382098955736302, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024095713521968678, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0076278980558575175, + -0.9995344573901841, + 0.02954121969316314 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055542763231126975, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033235535214125804, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21288225969516444, + -0.05687705639256559, + 0.7565885244649688 + ], + "target_position": [ + 0.2166374267736921, + -0.04974655459446639, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008058866898041804, + "xy_threshold": 0.08, + "gripper_dist": 0.21140122662552502, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565885244649688, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583178282013102, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0920050957566488, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18093895302495897, + "release_required_pad_clearance": 0.0560025478783244, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.24143334382366, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16673743494812243, + 0.22655431540591978, + 1.1621842626861096 + ], + "current_z": 1.1621842626861096, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30107787388063334, + "gripper_z": 1.1557653209191787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16391747703091206, + 0.22275995566956092, + 1.1557653209191787 + ], + "object_minus_gripper": [ + 0.002819957917210375, + 0.00379435973635886, + 0.006418941766930919 + ], + "object_to_gripper_xy": 0.004727507637618236, + "object_to_gripper_z": 0.006418941766930919, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16673743494812243, + 0.2032896041575034, + 1.1621842626861096 + ], + "finger_b": [ + 0.15825550679528752, + 0.22655431540591978, + 1.1621842626861096 + ], + "finger_midpoint": [ + 0.162496470871705, + 0.21492195978171158, + 1.1621842626861096 + ], + "object_minus_finger_midpoint": [ + 0.004240964076417442, + 0.011632355624208196, + 0.0 + ], + "finger_gap": 0.024762671395914544, + "fingertip_max_gap": 0.09138651341043064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01238133569795728, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621842626861096, + "object_top_z": 1.2123054954190589, + "finger_top_clearance": 0.05012123273294922, + "fingertip_min_top_clearance": 0.01503636981988473, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01238133569795728, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819325670521532, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8840099562883168, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3093420742601962, + -0.37812989806480846, + 0.8515395557569772 + ], + "target_position": [ + 0.30365876010467874, + -0.3792555151408647, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005793709829825342, + "xy_threshold": 0.08, + "gripper_dist": 0.18154690835042855, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395557569772, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531147237085342, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08512727996354645, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15029778982026182, + "release_required_pad_clearance": 0.05256363998177323, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1938265843713262, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008588016033172607, + "max_z_decrease": 0.008588016033172607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500732342926327, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008588016033172607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020855052364278613, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008588016033172607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588049981110315, + "max_button_displacement": 0.12, + "button_start": [ + 0.15935868024826044, + -0.43551698327064514, + 0.7768088579177856 + ], + "button_final": [ + 0.15935868024826044, + -0.43551698327064514, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1586143458703922, + -0.43468677942066436, + 0.8032111481760756 + ], + "closest_button": [ + 0.15933920443058008, + -0.4355027079582214, + 0.768220841884613 + ], + "closest_ee_minus_button": [ + -0.000724858560187891, + 0.0008159285375570202, + 0.0349903062914626 + ], + "button_min_z_position": [ + 0.15933920443058008, + -0.4355027079582214, + 0.768220841884613 + ], + "min_active_finger_to_button": 0.1460753811053802, + "closest_active_finger": [ + 0.03139689564704895, + -0.49716776609420776, + 0.8107101321220398 + ], + "closest_active_finger_button": [ + 0.15935485064983362, + -0.43551939725875854, + 0.7765889167785645 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12795795500278467, + -0.06164836883544922, + 0.03412121534347534 + ], + "min_contact_pad_to_button": 0.020855052364278613, + "closest_contact_pad": [ + 0.15933920443058008, + -0.4359129401422611, + 0.7890718590941398 + ], + "closest_contact_pad_button": [ + 0.15933920443058008, + -0.4355027079582214, + 0.768220841884613 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00041023218403973827, + 0.020851017209526757 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68b34f31ac9aab350086c0073846631eb7965d6100dc84cc53debd44caa9492b", + "visual_seed": 1443182120269002778, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..578369e2dfb834745c93ee37901de8b3c0b25e0d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_26_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23122995065740973, + -0.055413622858588904, + 0.9959685945820675 + ], + "current_z": 0.9959685945820675, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13938214677814675, + "gripper_z": 0.9988539111907503, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22685138931991639, + -0.05972102797437359, + 0.9988539111907503 + ], + "object_minus_gripper": [ + 0.004378561337493342, + 0.004307405115784688, + -0.002885316608682742 + ], + "object_to_gripper_xy": 0.006142111869518462, + "object_to_gripper_z": -0.002885316608682742, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23122995065740973, + -0.07957263598311899, + 0.9959685945820675 + ], + "finger_b": [ + 0.2207221029577675, + -0.055413622858588904, + 0.9959685945820675 + ], + "finger_midpoint": [ + 0.2259760268075886, + -0.06749312942085395, + 0.9959685945820675 + ], + "object_minus_finger_midpoint": [ + 0.005253923849821124, + 0.012079506562265044, + 0.0 + ], + "finger_gap": 0.026345261024140438, + "fingertip_max_gap": 0.09308526689886013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013172630512070226, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959685945820675, + "object_top_z": 1.0417822812841144, + "finger_top_clearance": 0.045813686702046885, + "fingertip_min_top_clearance": 0.013744106010614049, + "object_projection_between_fingers": 0.8409174560503281, + "object_to_finger_line_xy": 0.009635859377274946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049042633449430065, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0290956274080165, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1623481573547801, + 0.23698172529205755, + 0.7611066272240558 + ], + "gripper_position": [ + 0.1654174958481691, + 0.19940326954343085, + 1.0169859182129295 + ], + "target_minus_gripper": [ + -0.003069338493389001, + 0.0375784557486267, + -0.25587929098887374 + ], + "held_position": [ + 0.16976072468156794, + 0.20363543884438712, + 1.0139369852031679 + ], + "held_minus_target": [ + 0.007412567326787856, + -0.03334628644767043, + 0.25283035797911213 + ], + "held_minus_gripper": [ + 0.0043432288333988545, + 0.004232169300956268, + -0.003048933009761612 + ], + "xy_dist": 0.03770359631704242, + "held_xy_dist": 0.034160225031815164, + "held_gripper_dist": 0.006787553770633264, + "max_held_gripper_dist": 0.006791440198379462, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240558, + "held_z": 1.0139369852031679, + "required_height": 0.7911066272240558, + "gripper_z": 1.0169859182129295, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17662520105158, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.7319464934375497, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8994156732713814, + "max_source_tilt_deg": 89.88614547377938, + "source_upright_tilt_deg": 3.2128558664760147, + "max_source_upright_tilt_deg": 89.87238909171889, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8994156732713814, + "source_upright_return_tilt_deg": 3.2128558664760147, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.999200562387517e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1623, + 0.237, + 0.7611 + ], + "controller_target_position": [ + 0.1623, + 0.237, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0001, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1631, + 0.2118, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0689, + 0.0661, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007342167649265897, + 8.91794756544234e-05, + -0.0006071320773386576 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.212847819910898, + "source_return_step_error_deg": 1.8994104638400475, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2163014798184704, + "source_return_best_wrist_position": -1.6095607280731201, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095607280731201 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1623, + 0.237, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1623, + 0.237, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0001, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1631, + 0.2118, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0689, + 0.0661, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007342167649265897, + 8.91794756544234e-05, + -0.0006071320773386576 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.212847819910898, + "pour_controller_source_return_step_error_deg": 1.8994104638400475, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2163014798184704, + "pour_controller_source_return_best_wrist_position": -1.6095607280731201, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095607280731201, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03770359631704242, + "valid_pour_held_xy_dist": 0.034160225031815164, + "valid_pour_held_gripper_dist": 0.006787553770633264, + "valid_pour_required_height": 0.7911066272240558, + "valid_pour_held_z": 1.0139369852031679, + "valid_pour_source_tilt_deg": 1.8994156732713814, + "valid_pour_source_upright_tilt_deg": 3.2128558664760147, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16976072468156794, + 0.18010459277520305, + 1.0139369852031679 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15903856535034744, + 0.20363543884438712, + 1.0139369852031679 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1643996450159577, + 0.19187001580979507, + 1.0139369852031679 + ], + "valid_pour_held_grasp_object_position": [ + 0.16976072468156794, + 0.20363543884438712, + 1.0139369852031679 + ], + "valid_pour_held_grasp_finger_gap": 0.025858565649620135, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02397479110607988, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04485386445422525, + -0.9984282229251503, + 0.03360378713848067 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005896406644232756, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03369375969407001, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16976072468156794, + 0.18010459277520305, + 1.0139369852031679 + ], + "held_grasp_finger_b": [ + 0.15903856535034744, + 0.20363543884438712, + 1.0139369852031679 + ], + "held_grasp_midpoint": [ + 0.1643996450159577, + 0.19187001580979507, + 1.0139369852031679 + ], + "held_grasp_object_position": [ + 0.16976072468156794, + 0.20363543884438712, + 1.0139369852031679 + ], + "held_grasp_finger_gap": 0.025858565649620135, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02397479110607988, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04485386445422525, + -0.9984282229251503, + 0.03360378713848067 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005896406644232756, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03369375969407001, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21800897240501782, + -0.060235509350796614, + 0.7565869498897178 + ], + "target_position": [ + 0.2097920639490239, + -0.05490580839050054, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009794043950297827, + "xy_threshold": 0.08, + "gripper_dist": 0.22038585408646727, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869498897178, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755754174189993, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08619997674446385, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18943482138161558, + "release_required_pad_clearance": 0.05309998837223193, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2271489401586262, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16939644972793133, + 0.23423301452103618, + 1.161916329850888 + ], + "current_z": 1.161916329850888, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30080976223147715, + "gripper_z": 1.1554915871764506, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16643801947296213, + 0.23024327112338328, + 1.1554915871764506 + ], + "object_minus_gripper": [ + 0.0029584302549691965, + 0.003989743397652901, + 0.006424742674437489 + ], + "object_to_gripper_xy": 0.004966926811684667, + "object_to_gripper_z": 0.006424742674437489, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16939644972793133, + 0.211152123379251, + 1.161916329850888 + ], + "finger_b": [ + 0.16026108515820672, + 0.23423301452103618, + 1.161916329850888 + ], + "finger_midpoint": [ + 0.164828767443069, + 0.22269256895014358, + 1.161916329850888 + ], + "object_minus_finger_midpoint": [ + 0.004567682284862318, + 0.011540445570892593, + 0.0 + ], + "finger_gap": 0.02482302201023714, + "fingertip_max_gap": 0.09156081772593302, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012411511005118576, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161916329850888, + "object_top_z": 1.212150773784629, + "finger_top_clearance": 0.05023444393374099, + "fingertip_min_top_clearance": 0.01507033318012233, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012411511005118576, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048280408862966515, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0032697705971094, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3106144006577545, + -0.3817360654397105, + 0.8515395725817047 + ], + "target_position": [ + 0.30535657470436794, + -0.38218966965829654, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005277356397214805, + "xy_threshold": 0.08, + "gripper_dist": 0.18346857347345305, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395725817047, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755836041201401, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851473924273488, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15119872428698247, + "release_required_pad_clearance": 0.0525736962136744, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.21306236285080002, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008610308170318604, + "max_z_decrease": 0.008610308170318604, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507263438496243, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008610308170318604, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020938954794147684, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008610308170318604, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008610524738024893, + "max_button_displacement": 0.12, + "button_start": [ + 0.16105650365352625, + -0.43845114111900324, + 0.7768088579177856 + ], + "button_final": [ + 0.16105650365352625, + -0.43845114111900324, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16288127056315108, + -0.43786296540041064, + 0.8032163122609094 + ], + "closest_button": [ + 0.16100199520587916, + -0.438423603773117, + 0.768198549747467 + ], + "closest_ee_minus_button": [ + 0.00187927535727192, + 0.000560638372706368, + 0.03501776251344235 + ], + "button_min_z_position": [ + 0.16100199520587916, + -0.438423603773117, + 0.768198549747467 + ], + "min_active_finger_to_button": 0.14396436670345344, + "closest_active_finger": [ + 0.03493223339319229, + -0.49884432554244995, + 0.8104753494262695 + ], + "closest_active_finger_button": [ + 0.1610588133335113, + -0.43845513463020314, + 0.7762559056282043 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.126126579940319, + -0.060389190912246815, + 0.034219443798065186 + ], + "min_contact_pad_to_button": 0.020938954794147684, + "closest_contact_pad": [ + 0.16100199520587916, + -0.43923455734023426, + 0.7891217947678586 + ], + "closest_contact_pad_button": [ + 0.16100199520587916, + -0.438423603773117, + 0.768198549747467 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008109535671172452, + 0.020923245020391557 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "230e7ef9973584f32dac7893fc264f3bda191c401e2ae0e4161199cfe2c7e806", + "visual_seed": 2749336133081146936, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..204312a9afe437ee81af3136491142f9abd04841 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_27_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23131194092540697, + -0.049182138120376535, + 0.9959985130770321 + ], + "current_z": 0.9959985130770321, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1394119460638218, + "gripper_z": 0.9986828500671361, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2268751399858843, + -0.05355118983492488, + 0.9986828500671361 + ], + "object_minus_gripper": [ + 0.004436800939522673, + 0.004369051714548343, + -0.0026843369901039527 + ], + "object_to_gripper_xy": 0.006226862409058601, + "object_to_gripper_z": -0.0026843369901039527, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23131194092540697, + -0.07332778073541778, + 0.9959985130770321 + ], + "finger_b": [ + 0.22064414548690814, + -0.049182138120376535, + 0.9959985130770321 + ], + "finger_midpoint": [ + 0.22597804320615755, + -0.06125495942789716, + 0.9959985130770321 + ], + "object_minus_finger_midpoint": [ + 0.005333897719249414, + 0.012072821307520624, + 0.0 + ], + "finger_gap": 0.026397233127942635, + "fingertip_max_gap": 0.09291925161673792, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013198616563971319, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959985130770321, + "object_top_z": 1.0418648313628778, + "finger_top_clearance": 0.04586631828584564, + "fingertip_min_top_clearance": 0.01375989548575371, + "object_projection_between_fingers": 0.8366825679393955, + "object_to_finger_line_xy": 0.00975787026238365, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04895962580836896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8526937293529309, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1572091044868908, + 0.23103838224873025, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16095399213955494, + 0.19477581294120727, + 1.0175594479229568 + ], + "target_minus_gripper": [ + -0.0037448876526641472, + 0.036262569307522974, + -0.2564530591174804 + ], + "held_position": [ + 0.16534501831081128, + 0.19908883331511917, + 1.0147121919688311 + ], + "held_minus_target": [ + 0.008135913823920482, + -0.03194954893361107, + 0.2536058031633547 + ], + "held_minus_gripper": [ + 0.004391026171256335, + 0.004313020373911902, + -0.002847255954125716 + ], + "xy_dist": 0.03645542643165738, + "held_xy_dist": 0.03296917910430086, + "held_gripper_dist": 0.006781601731946633, + "max_held_gripper_dist": 0.006785766916777922, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0147121919688311, + "required_height": 0.7911063888054765, + "gripper_z": 1.0175594479229568, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18728712634598, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.339742210047888, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8994824239291992, + "max_source_tilt_deg": 89.85103445009933, + "source_upright_tilt_deg": 3.123994115469395, + "max_source_upright_tilt_deg": 89.65321690529755, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8994824239291992, + "source_upright_return_tilt_deg": 3.123994115469395, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.475139697881291e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1572, + 0.231, + 0.7611 + ], + "controller_target_position": [ + 0.1572, + 0.231, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0014, + 0.0017, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.1586, + 0.2074, + 1.026 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.069, + 0.0659, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013595694413749528, + 0.0016883892662915897, + -0.0004581131771841953 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.1239910770340207, + "source_return_step_error_deg": 1.8994928230172023, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.126717410810759, + "source_return_best_wrist_position": -1.6097793579101562, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097793579101562 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1572, + 0.231, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1572, + 0.231, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0014, + 0.0017, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1586, + 0.2074, + 1.026 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.069, + 0.0659, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013595694413749528, + 0.0016883892662915897, + -0.0004581131771841953 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.1239910770340207, + "pour_controller_source_return_step_error_deg": 1.8994928230172023, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.126717410810759, + "pour_controller_source_return_best_wrist_position": -1.6097793579101562, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097793579101562, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03645542643165738, + "valid_pour_held_xy_dist": 0.03296917910430086, + "valid_pour_held_gripper_dist": 0.006781601731946633, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0147121919688311, + "valid_pour_source_tilt_deg": 1.8994824239291992, + "valid_pour_source_upright_tilt_deg": 3.123994115469395, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16534501831081128, + 0.17560362705955535, + 1.0147121919688311 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15441279498574073, + 0.19908883331511917, + 1.0147121919688311 + ], + "valid_pour_held_grasp_midpoint": [ + 0.159878906648276, + 0.18734623018733726, + 1.0147121919688311 + ], + "valid_pour_held_grasp_object_position": [ + 0.16534501831081128, + 0.19908883331511917, + 1.0147121919688311 + ], + "valid_pour_held_grasp_finger_gap": 0.025904988316839496, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023929976489485468, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04387676145560207, + -0.9985139444503034, + 0.03232232266506907 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005987869611964696, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03371490727608153, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16534501831081128, + 0.17560362705955535, + 1.0147121919688311 + ], + "held_grasp_finger_b": [ + 0.15441279498574073, + 0.19908883331511917, + 1.0147121919688311 + ], + "held_grasp_midpoint": [ + 0.159878906648276, + 0.18734623018733726, + 1.0147121919688311 + ], + "held_grasp_object_position": [ + 0.16534501831081128, + 0.19908883331511917, + 1.0147121919688311 + ], + "held_grasp_finger_gap": 0.025904988316839496, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023929976489485468, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04387676145560207, + -0.9985139444503034, + 0.03232232266506907 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005987869611964696, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03371490727608153, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2072259252262781, + -0.061915255455995244, + 0.7565868144587222 + ], + "target_position": [ + 0.20961872130097473, + -0.051590446221272936, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010598450773037093, + "xy_threshold": 0.08, + "gripper_dist": 0.2159172361516744, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868144587222, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07593065714239106, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08805374371859136, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18430905663685565, + "release_required_pad_clearance": 0.05402687185929568, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0632252177334243, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16405302152216317, + 0.226457599112848, + 1.1612993761021655 + ], + "current_z": 1.1612993761021655, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3001929276920443, + "gripper_z": 1.1552209698267484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1612484563765128, + 0.2225518306007986, + 1.1552209698267484 + ], + "object_minus_gripper": [ + 0.0028045651456503617, + 0.003905768512049379, + 0.006078406275417114 + ], + "object_to_gripper_xy": 0.0048083898891326665, + "object_to_gripper_z": 0.006078406275417114, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16405302152216317, + 0.20322525856655707, + 1.1612993761021655 + ], + "finger_b": [ + 0.15536256770607082, + 0.226457599112848, + 1.1612993761021655 + ], + "finger_midpoint": [ + 0.159707794614117, + 0.21484142883970253, + 1.1612993761021655 + ], + "object_minus_finger_midpoint": [ + 0.004345226908046174, + 0.01161617027314546, + 0.0 + ], + "finger_gap": 0.024804548671331778, + "fingertip_max_gap": 0.09187808754411383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012402274335665889, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1612993761021655, + "object_top_z": 1.2116628145092363, + "finger_top_clearance": 0.050363438407070804, + "fingertip_min_top_clearance": 0.01510903152212124, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012402274335665889, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04843904377205692, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2767812424779013, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30981262906075446, + -0.38368746808093424, + 0.8515395636802531 + ], + "target_position": [ + 0.3044689279376755, + -0.38329742062343464, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005357917385691697, + "xy_threshold": 0.08, + "gripper_dist": 0.18409591214202442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395636802531, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562045186762838, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08525046393503698, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15154556544811856, + "release_required_pad_clearance": 0.05262523196751849, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3115327120675174, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00854504108428955, + "max_z_decrease": 0.00854504108428955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505664827441021, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00854504108428955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020892908173537766, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00854504108428955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008545268904210321, + "max_button_displacement": 0.12, + "button_start": [ + 0.16016885638237002, + -0.4395588934421539, + 0.7768088579177856 + ], + "button_final": [ + 0.16016885638237002, + -0.4395588934421539, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16149229940646023, + -0.4384669845702536, + 0.8032769415975742 + ], + "closest_button": [ + 0.16011101007461548, + -0.4395354986190796, + 0.7682638168334961 + ], + "closest_ee_minus_button": [ + 0.0013812893318447539, + 0.0010685140488259637, + 0.03501312476407814 + ], + "button_min_z_position": [ + 0.16011101007461548, + -0.4395354986190796, + 0.7682638168334961 + ], + "min_active_finger_to_button": 0.14417698296728634, + "closest_active_finger": [ + 0.033853307366371155, + -0.5000941753387451, + 0.8105340003967285 + ], + "closest_active_finger_button": [ + 0.1601689010858536, + -0.4395619630813598, + 0.7763693332672119 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12631559371948245, + -0.06053221225738531, + 0.0341646671295166 + ], + "min_contact_pad_to_button": 0.020892908173537766, + "closest_contact_pad": [ + 0.16011101007461548, + -0.43977347313967674, + 0.7891553696737095 + ], + "closest_contact_pad_button": [ + 0.16011101007461548, + -0.4395354986190796, + 0.7682638168334961 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00023797452059715063, + 0.02089155284021338 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d016ef60503fa414e7c9688869722823f249d4d6d9aca182412ae9fdd81cdcbe", + "visual_seed": 7638683515239784129, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3864060215af5a8a4dac0b42d4663c5067f7f0d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_28_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23768834808282752, + -0.05582895714144228, + 0.9950593398992815 + ], + "current_z": 0.9950593398992815, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13847283249071596, + "gripper_z": 0.997968041666956, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23327804362774857, + -0.06029311821787456, + 0.997968041666956 + ], + "object_minus_gripper": [ + 0.0044103044550789505, + 0.004464161076432278, + -0.0029087017676744376 + ], + "object_to_gripper_xy": 0.006275310311277223, + "object_to_gripper_z": -0.0029087017676744376, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23768834808282752, + -0.07980190311202613, + 0.9950593398992815 + ], + "finger_b": [ + 0.22667779308393532, + -0.05582895714144228, + 0.9950593398992815 + ], + "finger_midpoint": [ + 0.23218307058338142, + -0.0678154301267342, + 0.9950593398992815 + ], + "object_minus_finger_midpoint": [ + 0.0055052774994460985, + 0.011986472985291922, + 0.0 + ], + "finger_gap": 0.026380569741614044, + "fingertip_max_gap": 0.09347982532121496, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013190284870807019, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950593398992815, + "object_top_z": 1.0409461812492182, + "finger_top_clearance": 0.0458868413499367, + "fingertip_min_top_clearance": 0.01376605240498101, + "object_projection_between_fingers": 0.8257992262627498, + "object_to_finger_line_xy": 0.010005676248841888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04923991266060748, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.499950929211008, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16285142917294115, + 0.2376908268497891, + 0.7611064484101211 + ], + "gripper_position": [ + 0.16677760565798624, + 0.20119192225745508, + 1.0175237930079652 + ], + "target_minus_gripper": [ + -0.003926176485045091, + 0.036498904592334014, + -0.25641734459784415 + ], + "held_position": [ + 0.1712038184659786, + 0.2055335575101908, + 1.014451212827183 + ], + "held_minus_target": [ + 0.008352389293037443, + -0.03215726933959828, + 0.2533447644170619 + ], + "held_minus_gripper": [ + 0.004426212807992352, + 0.004341635252735732, + -0.0030725801807822695 + ], + "xy_dist": 0.03670946605757188, + "held_xy_dist": 0.03322427393159878, + "held_gripper_dist": 0.0069196752421460655, + "max_held_gripper_dist": 0.006938597197505974, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.014451212827183, + "required_height": 0.7911064484101211, + "gripper_z": 1.0175237930079652, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17456248392224, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.233599818848335, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8925012177608085, + "max_source_tilt_deg": 89.75440697020389, + "source_upright_tilt_deg": 2.952567601548536, + "max_source_upright_tilt_deg": 89.75336062060941, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8925012177608085, + "source_upright_return_tilt_deg": 2.952567601548536, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 8.024520884654677e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1629, + 0.2377, + 0.7611 + ], + "controller_target_position": [ + 0.1629, + 0.2377, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0013, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.1646, + 0.2136, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0687, + 0.0656, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017627772535276217, + 0.0013173907116841876, + -0.0003155471845420119 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.9528087186361915, + "source_return_step_error_deg": 1.8926428062022784, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9523742081080773, + "source_return_best_wrist_position": -1.609498381614685, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609498381614685 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1629, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1629, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0013, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1646, + 0.2136, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0687, + 0.0656, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017627772535276217, + 0.0013173907116841876, + -0.0003155471845420119 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.9528087186361915, + "pour_controller_source_return_step_error_deg": 1.8926428062022784, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9523742081080773, + "pour_controller_source_return_best_wrist_position": -1.609498381614685, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609498381614685, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03670946605757188, + "valid_pour_held_xy_dist": 0.03322427393159878, + "valid_pour_held_gripper_dist": 0.0069196752421460655, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.014451212827183, + "valid_pour_source_tilt_deg": 1.8925012177608085, + "valid_pour_source_upright_tilt_deg": 2.952567601548536, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1712038184659786, + 0.1820048421925313, + 1.014451212827183 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16025097423344536, + 0.2055335575101908, + 1.014451212827183 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16572739634971198, + 0.19376919985136104, + 1.014451212827183 + ], + "valid_pour_held_grasp_object_position": [ + 0.1712038184659786, + 0.2055335575101908, + 1.014451212827183 + ], + "valid_pour_held_grasp_finger_gap": 0.025953135480739162, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023951846681414875, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.041483754033818036, + -0.9986725270829245, + 0.03053329004655692 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005970343870902369, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03367866672121647, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1712038184659786, + 0.1820048421925313, + 1.014451212827183 + ], + "held_grasp_finger_b": [ + 0.16025097423344536, + 0.2055335575101908, + 1.014451212827183 + ], + "held_grasp_midpoint": [ + 0.16572739634971198, + 0.19376919985136104, + 1.014451212827183 + ], + "held_grasp_object_position": [ + 0.1712038184659786, + 0.2055335575101908, + 1.014451212827183 + ], + "held_grasp_finger_gap": 0.025953135480739162, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023951846681414875, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.041483754033818036, + -0.9986725270829245, + 0.03053329004655692 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005970343870902369, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03367866672121647, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20614872996994504, + -0.056419657405925, + 0.7566034273879654 + ], + "target_position": [ + 0.2159305816714618, + -0.056155047293186544, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009785430047894164, + "xy_threshold": 0.08, + "gripper_dist": 0.20919289814426037, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566034273879654, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559586969582754, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0863228899272586, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18083800779617504, + "release_required_pad_clearance": 0.053161444963629303, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2819570055570924, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17010893321115228, + 0.2341561806423523, + 1.1626084095855331 + ], + "current_z": 1.1626084095855331, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30150202078005683, + "gripper_z": 1.1563728545938075, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16678761328716346, + 0.2301119093302405, + 1.1563728545938075 + ], + "object_minus_gripper": [ + 0.003321319923988819, + 0.004044271312111797, + 0.006235554991725678 + ], + "object_to_gripper_xy": 0.005233287349597341, + "object_to_gripper_z": 0.006235554991725678, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17010893321115228, + 0.21067287653989128, + 1.1626084095855331 + ], + "finger_b": [ + 0.16111545561498897, + 0.2341561806423523, + 1.1626084095855331 + ], + "finger_midpoint": [ + 0.16561219441307062, + 0.2224145285911218, + 1.1626084095855331 + ], + "object_minus_finger_midpoint": [ + 0.0044967387980816564, + 0.011741652051230511, + 0.0 + ], + "finger_gap": 0.025146534768062064, + "fingertip_max_gap": 0.09108943804388803, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012573267384031032, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626084095855331, + "object_top_z": 1.212553517540469, + "finger_top_clearance": 0.049945107954935786, + "fingertip_min_top_clearance": 0.014983532386480768, + "object_projection_between_fingers": 0.8720916136299726, + "object_to_finger_line_xy": 0.008398635091368857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048044719021944016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7698177128144615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31098099330789714, + -0.3785505571451583, + 0.8515396084911949 + ], + "target_position": [ + 0.30514493222435035, + -0.38001853279344117, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00601785356043505, + "xy_threshold": 0.08, + "gripper_dist": 0.18388778917743187, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396084911949, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536580457530215, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08506166041043715, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15247742692157293, + "release_required_pad_clearance": 0.05253083020521858, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.13122120005812218, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00846487283706665, + "max_z_decrease": 0.00846487283706665, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503902831024363, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00846487283706665, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020932303705358105, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00846487283706665, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008465072870243135, + "max_button_displacement": 0.12, + "button_start": [ + 0.16084486246109003, + -0.436279982328415, + 0.7768088579177856 + ], + "button_final": [ + 0.16084486246109003, + -0.436279982328415, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16205695577837176, + -0.43667164155501165, + 0.8033576909130709 + ], + "closest_button": [ + 0.16078846156597135, + -0.4362656474113465, + 0.768343985080719 + ], + "closest_ee_minus_button": [ + 0.0012684942124004117, + -0.00040599414366515596, + 0.03501370583235186 + ], + "button_min_z_position": [ + 0.16078846156597135, + -0.4362656474113465, + 0.768343985080719 + ], + "min_active_finger_to_button": 0.1446131042051477, + "closest_active_finger": [ + 0.02114076167345047, + -0.42124783992767334, + 0.8107128739356995 + ], + "closest_active_finger_button": [ + 0.1608422845602035, + -0.43628257513046265, + 0.7765018939971924 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13970152288675303, + 0.015034735202789307, + 0.03421097993850708 + ], + "min_contact_pad_to_button": 0.020932303705358105, + "closest_contact_pad": [ + 0.16078846156597135, + -0.4377853548125679, + 0.7892210497170136 + ], + "closest_contact_pad_button": [ + 0.16078846156597135, + -0.4362656474113465, + 0.768343985080719 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015197074012214262, + 0.020877064636294573 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "16a8142ae784dfe9c4cd00d0959bd291a8c7b0a082708118444feddf36650b5c", + "visual_seed": 6348484770175825517, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6f43d0c1b387c47437d5f2505e31bde8994302a8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_29_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23956085221257425, + -0.05312986868536465, + 0.9951553711464085 + ], + "current_z": 0.9951553711464085, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13856886373784294, + "gripper_z": 0.9980953651041305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23501087879919758, + -0.057589590768414675, + 0.9980953651041305 + ], + "object_minus_gripper": [ + 0.004549973413376679, + 0.0044597220830500245, + -0.0029399939577220424 + ], + "object_to_gripper_xy": 0.006371136407304326, + "object_to_gripper_z": -0.0029399939577220424, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23956085221257425, + -0.07728401227474413, + 0.9951553711464085 + ], + "finger_b": [ + 0.22864395437865098, + -0.05312986868536465, + 0.9951553711464085 + ], + "finger_midpoint": [ + 0.2341024032956126, + -0.06520694048005439, + 0.9951553711464085 + ], + "object_minus_finger_midpoint": [ + 0.00545844891696165, + 0.01207707179468974, + 0.0 + ], + "finger_gap": 0.026506627677859745, + "fingertip_max_gap": 0.0930960833500453, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01325331383892988, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9951553711464085, + "object_top_z": 1.0409589048146393, + "finger_top_clearance": 0.045803533668230756, + "fingertip_min_top_clearance": 0.013741060100469243, + "object_projection_between_fingers": 0.8303751267248807, + "object_to_finger_line_xy": 0.009948014550769123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04904804167502265, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1291235823656796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16057594735283465, + 0.22976992090210394, + 0.7611063292008317 + ], + "gripper_position": [ + 0.16470037895970424, + 0.19384890653577946, + 1.0179749090727794 + ], + "target_minus_gripper": [ + -0.004124431606869594, + 0.03592101436632447, + -0.2568685798719478 + ], + "held_position": [ + 0.16928439124759045, + 0.1981675178538656, + 1.0148769424320399 + ], + "held_minus_target": [ + 0.008708443894755807, + -0.03160240304823833, + 0.2537706132312082 + ], + "held_minus_gripper": [ + 0.004584012287886213, + 0.004318611318086141, + -0.00309796664073958 + ], + "xy_dist": 0.036157021575144076, + "held_xy_dist": 0.03278031228483666, + "held_gripper_dist": 0.007018615937585472, + "max_held_gripper_dist": 0.007022104822192345, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0148769424320399, + "required_height": 0.7911063292008317, + "gripper_z": 1.0179749090727794, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17627003121474, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3684113716898616, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9743826863027119, + "max_source_tilt_deg": 89.9468293932246, + "source_upright_tilt_deg": 2.592175123027429, + "max_source_upright_tilt_deg": 89.92901587518513, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9743826863027119, + "source_upright_return_tilt_deg": 2.592175123027429, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.322027276634104e-08, + "max_target_xy_drift": 1.9082797281243946e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1606, + 0.2298, + 0.7611 + ], + "controller_target_position": [ + 0.1606, + 0.2298, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + 0.0018, + 0.0 + ], + "controller_last_pour_pose_position": [ + 0.162, + 0.2063, + 1.0264 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0652, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014678049223698177, + 0.0018496117148152592, + 2.444363391325942e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.59216486398274, + "source_return_step_error_deg": 1.97438955374208, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.596352202242839, + "source_return_best_wrist_position": -1.609583854675293, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609583854675293 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1606, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1606, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + 0.0018, + 0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.162, + 0.2063, + 1.0264 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0652, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014678049223698177, + 0.0018496117148152592, + 2.444363391325942e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.59216486398274, + "pour_controller_source_return_step_error_deg": 1.97438955374208, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.596352202242839, + "pour_controller_source_return_best_wrist_position": -1.609583854675293, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609583854675293, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036157021575144076, + "valid_pour_held_xy_dist": 0.03278031228483666, + "valid_pour_held_gripper_dist": 0.007018615937585472, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0148769424320399, + "valid_pour_source_tilt_deg": 1.9743826863027119, + "valid_pour_source_upright_tilt_deg": 2.592175123027429, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.322027276634104e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16928439124759045, + 0.17441070940297146, + 1.0148769424320399 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15851909073919435, + 0.1981675178538656, + 1.0148769424320399 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1639017409933924, + 0.18628911362841855, + 1.0148769424320399 + ], + "valid_pour_held_grasp_object_position": [ + 0.16928439124759045, + 0.1981675178538656, + 1.0148769424320399 + ], + "valid_pour_held_grasp_finger_gap": 0.026082132635360723, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024072774392826624, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031608477258867, + -0.9989767643064397, + 0.032347002043650264 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005768046852312259, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350411252570197, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16928439124759045, + 0.17441070940297146, + 1.0148769424320399 + ], + "held_grasp_finger_b": [ + 0.15851909073919435, + 0.1981675178538656, + 1.0148769424320399 + ], + "held_grasp_midpoint": [ + 0.1639017409933924, + 0.18628911362841855, + 1.0148769424320399 + ], + "held_grasp_object_position": [ + 0.16928439124759045, + 0.1981675178538656, + 1.0148769424320399 + ], + "held_grasp_finger_gap": 0.026082132635360723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024072774392826624, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031608477258867, + -0.9989767643064397, + 0.032347002043650264 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005768046852312259, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350411252570197, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22030869848955545, + -0.05568496416105882, + 0.7565865396645217 + ], + "target_position": [ + 0.2171996858967843, + -0.05671383057219079, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003274832116913052, + "xy_threshold": 0.08, + "gripper_dist": 0.21787556240147823, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865396645217, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548275242741767, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08924769689462943, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18895417113922863, + "release_required_pad_clearance": 0.054623848447314716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.28713395710533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16752944687050164, + 0.22396466895593964, + 1.1609945931768797 + ], + "current_z": 1.1609945931768797, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.29988826397604795, + "gripper_z": 1.154813750008239, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16451750964631323, + 0.22012272947208883, + 1.154813750008239 + ], + "object_minus_gripper": [ + 0.00301193722418841, + 0.003841939483850809, + 0.0061808431686407594 + ], + "object_to_gripper_xy": 0.0048818300707853, + "object_to_gripper_z": 0.0061808431686407594, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16752944687050164, + 0.20062323565983448, + 1.1609945931768797 + ], + "finger_b": [ + 0.15891578681280355, + 0.22396466895593964, + 1.1609945931768797 + ], + "finger_midpoint": [ + 0.1632226168416526, + 0.21229395230788706, + 1.1609945931768797 + ], + "object_minus_finger_midpoint": [ + 0.004306830028849046, + 0.011670716648052581, + 0.0 + ], + "finger_gap": 0.024880065271339426, + "fingertip_max_gap": 0.09116503538864698, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012440032635669713, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1609945931768797, + "object_top_z": 1.2109133234809444, + "finger_top_clearance": 0.049918730304064685, + "fingertip_min_top_clearance": 0.014975619091219404, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012440032635669713, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04808251769432349, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8453144203620638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3115622534989, + -0.3807080038737493, + 0.8515395037001926 + ], + "target_position": [ + 0.3067259382019269, + -0.38157489422532376, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0049133944003498025, + "xy_threshold": 0.08, + "gripper_dist": 0.18069683864565061, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395037001926, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753327211730552, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860053877872866, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14936740841347407, + "release_required_pad_clearance": 0.0530026938936433, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0385293510172842, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008657574653625488, + "max_z_decrease": 0.008657574653625488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035060859154541525, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008657574653625488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02099156562534236, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008657574653625488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008658623088831766, + "max_button_displacement": 0.12, + "button_start": [ + 0.16242586076259619, + -0.4378363490104675, + 0.7768088579177856 + ], + "button_final": [ + 0.16242586076259619, + -0.4378363490104675, + 0.7768088579177856 + ], + "closest_ee": [ + 0.163893148047811, + -0.4389534936371008, + 0.8035319274533862 + ], + "closest_button": [ + 0.16231137514114385, + -0.4378050565719604, + 0.7685256004333496 + ], + "closest_ee_minus_button": [ + 0.0015817729066671393, + -0.0011484370651403952, + 0.03500632702003659 + ], + "button_min_z_position": [ + 0.16229705512523657, + -0.437796801328659, + 0.7681512832641602 + ], + "min_active_finger_to_button": 0.14428655022614156, + "closest_active_finger": [ + 0.02282651513814926, + -0.4251295328140259, + 0.8104926943778992 + ], + "closest_active_finger_button": [ + 0.16242109239101415, + -0.4378377199172973, + 0.7762806415557861 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395945772528649, + 0.012708187103271429, + 0.03421205282211304 + ], + "min_contact_pad_to_button": 0.02099156562534236, + "closest_contact_pad": [ + 0.16229705512523657, + -0.43991992450823453, + 0.7890352047198496 + ], + "closest_contact_pad_button": [ + 0.16229705512523657, + -0.437796801328659, + 0.7681512832641602 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021231231795755257, + 0.020883921455689403 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8da5023fc1fde31404c39d9dcae73903768565fa85d93f44c583899decd398c1", + "visual_seed": 8088659220778006828, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4d90b739093d302055e55cb4d533ab551eaecd60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_2_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23577035006740893, + -0.048432414983036846, + 0.9970544325721071 + ], + "current_z": 0.9970544325721071, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14046798476818634, + "gripper_z": 0.9996376780664465, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2313812878360574, + -0.05283278709014959, + 0.9996376780664465 + ], + "object_minus_gripper": [ + 0.00438906223135152, + 0.004400372107112742, + -0.0025832454943394145 + ], + "object_to_gripper_xy": 0.006215073768808559, + "object_to_gripper_z": -0.0025832454943394145, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23577035006740893, + -0.07242434268276095, + 0.9970544325721071 + ], + "finger_b": [ + 0.224883345524642, + -0.048432414983036846, + 0.9970544325721071 + ], + "finger_midpoint": [ + 0.23032684779602547, + -0.060428378832898894, + 0.9970544325721071 + ], + "object_minus_finger_midpoint": [ + 0.00544350227138346, + 0.011995963849862047, + 0.0 + ], + "finger_gap": 0.02634652657681874, + "fingertip_max_gap": 0.09322721442220958, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013173263288409367, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9970544325721071, + "object_top_z": 1.0429556881240838, + "finger_top_clearance": 0.04590125555197666, + "fingertip_min_top_clearance": 0.013770376665592981, + "object_projection_between_fingers": 0.829246319666789, + "object_to_finger_line_xy": 0.009914028898460249, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911360721110479, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.051875234344745, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1558764936413249, + 0.23556249399647186, + 0.7611066868287004 + ], + "gripper_position": [ + 0.1587084677548649, + 0.19798184633131538, + 1.0185554688457557 + ], + "target_minus_gripper": [ + -0.0028319741135400256, + 0.03758064766515648, + -0.25744878201705523 + ], + "held_position": [ + 0.16316823085277876, + 0.20221253073994083, + 1.0158138231124154 + ], + "held_minus_target": [ + 0.007291737211453875, + -0.03334996325653103, + 0.254707136283715 + ], + "held_minus_gripper": [ + 0.004459763097913849, + 0.004230684408625451, + -0.0027416457333402366 + ], + "xy_dist": 0.03768720149218289, + "held_xy_dist": 0.03413780134649669, + "held_gripper_dist": 0.006730883952501584, + "max_held_gripper_dist": 0.006734129405683792, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066868287004, + "held_z": 1.0158138231124154, + "required_height": 0.7911066868287004, + "gripper_z": 1.0185554688457557, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16155097355336, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9858717413433977, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.020546899786873, + "max_source_tilt_deg": 89.96764255244346, + "source_upright_tilt_deg": 2.152337750902111, + "max_source_upright_tilt_deg": 89.98787499816133, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.020546899786873, + "source_upright_return_tilt_deg": 2.152337750902111, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.2731557704981462e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1559, + 0.2356, + 0.7611 + ], + "controller_target_position": [ + 0.1559, + 0.2356, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0014, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.154, + 0.209, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0644, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001829615453317239, + -0.0013653647194434382, + 0.0019004703480898348 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1523471348295793, + "source_return_step_error_deg": 2.020539462177668, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1552215803867942, + "source_return_best_wrist_position": -1.6086835861206055, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6086835861206055 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1559, + 0.2356, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1559, + 0.2356, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0014, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.154, + 0.209, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0644, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001829615453317239, + -0.0013653647194434382, + 0.0019004703480898348 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1523471348295793, + "pour_controller_source_return_step_error_deg": 2.020539462177668, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1552215803867942, + "pour_controller_source_return_best_wrist_position": -1.6086835861206055, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6086835861206055, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03768720149218289, + "valid_pour_held_xy_dist": 0.03413780134649669, + "valid_pour_held_gripper_dist": 0.006730883952501584, + "valid_pour_required_height": 0.7911066868287004, + "valid_pour_held_z": 1.0158138231124154, + "valid_pour_source_tilt_deg": 2.020546899786873, + "valid_pour_source_upright_tilt_deg": 2.152337750902111, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16316823085277876, + 0.17843297150423898, + 1.0158138231124154 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15265316190571396, + 0.20221253073994083, + 1.0158138231124154 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15791069637924637, + 0.1903227511220899, + 1.0158138231124154 + ], + "valid_pour_held_grasp_object_position": [ + 0.16316823085277876, + 0.20221253073994083, + 1.0158138231124154 + ], + "valid_pour_held_grasp_finger_gap": 0.026000655999527778, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0239778601724899, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020454180632614505, + -0.9992945124569667, + 0.03149768035970124 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055122513024581194, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03342637199917348, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16316823085277876, + 0.17843297150423898, + 1.0158138231124154 + ], + "held_grasp_finger_b": [ + 0.15265316190571396, + 0.20221253073994083, + 1.0158138231124154 + ], + "held_grasp_midpoint": [ + 0.15791069637924637, + 0.1903227511220899, + 1.0158138231124154 + ], + "held_grasp_object_position": [ + 0.16316823085277876, + 0.20221253073994083, + 1.0158138231124154 + ], + "held_grasp_finger_gap": 0.026000655999527778, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0239778601724899, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020454180632614505, + -0.9992945124569667, + 0.03149768035970124 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055122513024581194, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03342637199917348, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21652705902837516, + -0.050586168356053, + 0.7565863531047435 + ], + "target_position": [ + 0.21380397198357023, + -0.05016346480726819, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0027556997920201104, + "xy_threshold": 0.08, + "gripper_dist": 0.21658803810470445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863531047435, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525784390908509, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09050684851414016, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1879706235586964, + "release_required_pad_clearance": 0.05525342425707008, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.6127522452228495, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16262992683584734, + 0.23239819342187235, + 1.1617140883868107 + ], + "current_z": 1.1617140883868107, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.30060746116275494, + "gripper_z": 1.1553807434725738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1599693071029543, + 0.22855619247415065, + 1.1553807434725738 + ], + "object_minus_gripper": [ + 0.0026606197328930548, + 0.003842000947721691, + 0.006333344914236871 + ], + "object_to_gripper_xy": 0.004673314524548319, + "object_to_gripper_z": 0.006333344914236871, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16262992683584734, + 0.20941624930895086, + 1.1617140883868107 + ], + "finger_b": [ + 0.15384112451484325, + 0.23239819342187235, + 1.1617140883868107 + ], + "finger_midpoint": [ + 0.1582355256753453, + 0.2209072213654116, + 1.1617140883868107 + ], + "object_minus_finger_midpoint": [ + 0.004394401160502048, + 0.011490972056460741, + 0.0 + ], + "finger_gap": 0.024605137704291218, + "fingertip_max_gap": 0.09152153869290319, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012302568852145609, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617140883868107, + "object_top_z": 1.2119584993761108, + "finger_top_clearance": 0.0502444109893001, + "fingertip_min_top_clearance": 0.015073323296789997, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012302568852145609, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482607693464516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.917398873555123, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31010204031487143, + -0.3834630390992306, + 0.8515395676106011 + ], + "target_position": [ + 0.30484654432132535, + -0.38370487890996685, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005261057368270739, + "xy_threshold": 0.08, + "gripper_dist": 0.1834661830271047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395676106011, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533379838575409, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627514843833627, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15192172725983435, + "release_required_pad_clearance": 0.053137574219168135, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3008369271251377, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008547961711883545, + "max_z_decrease": 0.008547961711883545, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505837279702747, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008547961711883545, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020894750069778145, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008547961711883545, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008548796826982298, + "max_button_displacement": 0.12, + "button_start": [ + 0.16054646670818323, + -0.43996635079383845, + 0.7768088579177856 + ], + "button_final": [ + 0.16054646670818323, + -0.43996635079383845, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16112107240084203, + -0.4379290456540234, + 0.8036268374289205 + ], + "closest_button": [ + 0.1604266613721847, + -0.43993258476257324, + 0.7686326503753662 + ], + "closest_ee_minus_button": [ + 0.0006944110286573324, + 0.0020035391085498344, + 0.03499418705355428 + ], + "button_min_z_position": [ + 0.16042925417423246, + -0.4399431347846985, + 0.7682608962059021 + ], + "min_active_finger_to_button": 0.1444761750068535, + "closest_active_finger": [ + 0.03312782198190689, + -0.498867392539978, + 0.8104881048202515 + ], + "closest_active_finger_button": [ + 0.16054588556289667, + -0.43996950984001154, + 0.776296854019165 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12741806358098978, + -0.058897882699966486, + 0.034191250801086426 + ], + "min_contact_pad_to_button": 0.020894750069778145, + "closest_contact_pad": [ + 0.16042925417423246, + -0.4399431347846985, + 0.7891556462756802 + ], + "closest_contact_pad_button": [ + 0.16042925417423246, + -0.4399431347846985, + 0.7682608962059021 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020894750069778145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a0d4d13303eadd307606337073b34640aac02143fea743bfbad8e320d9940678", + "visual_seed": 645615118760153768, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e9723ca03b6ec316b5faebbe5780c5464b2f336f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_30_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23068671344638458, + -0.04923022484752388, + 0.9949427365270072 + ], + "current_z": 0.9949427365270072, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13835628872308636, + "gripper_z": 0.9980649163568577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22611299961132222, + -0.05366808484266229, + 0.9980649163568577 + ], + "object_minus_gripper": [ + 0.00457371383506236, + 0.0044378599951384115, + -0.0031221798298505243 + ], + "object_to_gripper_xy": 0.006372869022778575, + "object_to_gripper_z": -0.0031221798298505243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23068671344638458, + -0.07346357242811326, + 0.9949427365270072 + ], + "finger_b": [ + 0.21990921678134986, + -0.04923022484752388, + 0.9949427365270072 + ], + "finger_midpoint": [ + 0.22529796511386724, + -0.06134689863781857, + 0.9949427365270072 + ], + "object_minus_finger_midpoint": [ + 0.005388748332517346, + 0.012116673790294692, + 0.0 + ], + "finger_gap": 0.026521869642362913, + "fingertip_max_gap": 0.09295592318921508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013260934821181455, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949427365270072, + "object_top_z": 1.0407773382593808, + "finger_top_clearance": 0.04583460173237364, + "fingertip_min_top_clearance": 0.013750380519712108, + "object_projection_between_fingers": 0.8348694140228269, + "object_to_finger_line_xy": 0.00984752682424995, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048977961594607544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9265296286503937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1627433063473186, + 0.2387931402491041, + 0.7611066272240558 + ], + "gripper_position": [ + 0.1655635763557467, + 0.200891585415569, + 1.0169710410110828 + ], + "target_minus_gripper": [ + -0.002820270008428105, + 0.037901554833535106, + -0.25586441378702707 + ], + "held_position": [ + 0.1701349295343481, + 0.20521181987274517, + 1.0136801627617495 + ], + "held_minus_target": [ + 0.007391623187029517, + -0.03358132037635894, + 0.2525735355376938 + ], + "held_minus_gripper": [ + 0.004571353178601412, + 0.004320234457176164, + -0.0032908782493332733 + ], + "xy_dist": 0.038006338704483326, + "held_xy_dist": 0.03438518825829942, + "held_gripper_dist": 0.0070987023673637906, + "max_held_gripper_dist": 0.0071026204592104574, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240558, + "held_z": 1.0136801627617495, + "required_height": 0.7911066272240558, + "gripper_z": 1.0169710410110828, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1765295784032, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.466978599002014, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.960381310846519, + "max_source_tilt_deg": 89.99982927632654, + "source_upright_tilt_deg": 2.7793658091638394, + "max_source_upright_tilt_deg": 89.91158642149564, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.960381310846519, + "source_upright_return_tilt_deg": 2.7793658091638394, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.541398640621973e-08, + "max_target_xy_drift": 3.491453681546444e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1627, + 0.2388, + 0.7611 + ], + "controller_target_position": [ + 0.1627, + 0.2388, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0004, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.163, + 0.2131, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0684, + 0.0655, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00021428572625204053, + -0.00036550160242013034, + -0.0005030285506074047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.779364889433457, + "source_return_step_error_deg": 1.960366176444715, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7843096516861547, + "source_return_best_wrist_position": -1.6098811626434326, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098811626434326 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1627, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1627, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0004, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.163, + 0.2131, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0684, + 0.0655, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00021428572625204053, + -0.00036550160242013034, + -0.0005030285506074047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.779364889433457, + "pour_controller_source_return_step_error_deg": 1.960366176444715, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7843096516861547, + "pour_controller_source_return_best_wrist_position": -1.6098811626434326, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098811626434326, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038006338704483326, + "valid_pour_held_xy_dist": 0.03438518825829942, + "valid_pour_held_gripper_dist": 0.0070987023673637906, + "valid_pour_required_height": 0.7911066272240558, + "valid_pour_held_z": 1.0136801627617495, + "valid_pour_source_tilt_deg": 1.960381310846519, + "valid_pour_source_upright_tilt_deg": 2.7793658091638394, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.541398640621973e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1701349295343481, + 0.18150291555517525, + 1.0136801627617495 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15931809628614546, + 0.20521181987274517, + 1.0136801627617495 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1647265129102468, + 0.19335736771396023, + 1.0136801627617495 + ], + "valid_pour_held_grasp_object_position": [ + 0.1701349295343481, + 0.20521181987274517, + 1.0136801627617495 + ], + "valid_pour_held_grasp_finger_gap": 0.026059854670721166, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024064322667252086, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03543622651990613, + -0.9988236738756197, + 0.033098978166097075 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005838083300779203, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355137138539609, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1701349295343481, + 0.18150291555517525, + 1.0136801627617495 + ], + "held_grasp_finger_b": [ + 0.15931809628614546, + 0.20521181987274517, + 1.0136801627617495 + ], + "held_grasp_midpoint": [ + 0.1647265129102468, + 0.19335736771396023, + 1.0136801627617495 + ], + "held_grasp_object_position": [ + 0.1701349295343481, + 0.20521181987274517, + 1.0136801627617495 + ], + "held_grasp_finger_gap": 0.026059854670721166, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024064322667252086, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03543622651990613, + -0.9988236738756197, + 0.033098978166097075 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005838083300779203, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355137138539609, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.204328451452136, + -0.051359428999425416, + 0.756586718204666 + ], + "target_position": [ + 0.2089332837975902, + -0.0509779103906352, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004620610065629286, + "xy_threshold": 0.08, + "gripper_dist": 0.21156672111231248, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586718204666, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538740721488994, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08884419225668687, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18346430828119695, + "release_required_pad_clearance": 0.054422096128343436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.8684278020951663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 269, + "max_placed_release_frames": 269 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17012631022650537, + 0.23534768214198296, + 1.1617985069909755 + ], + "current_z": 1.1617985069909755, + "required_z": 0.8611066272240557, + "initial_z": 0.7611066272240558, + "lift_margin": 0.3006918797669198, + "gripper_z": 1.155420636683362, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16690948900794542, + 0.23122546431503005, + 1.155420636683362 + ], + "object_minus_gripper": [ + 0.0032168212185599565, + 0.004122217826952906, + 0.006377870307613609 + ], + "object_to_gripper_xy": 0.005228825734811393, + "object_to_gripper_z": 0.006377870307613609, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17012631022650537, + 0.21227899915349263, + 1.1617985069909755 + ], + "finger_b": [ + 0.16056107003436962, + 0.23534768214198296, + 1.1617985069909755 + ], + "finger_midpoint": [ + 0.16534369013043748, + 0.22381334064773778, + 1.1617985069909755 + ], + "object_minus_finger_midpoint": [ + 0.004782620096067891, + 0.011534341494245176, + 0.0 + ], + "finger_gap": 0.024973144670960287, + "fingertip_max_gap": 0.09087944115298363, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01248657233548016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617985069909755, + "object_top_z": 1.2117007413899135, + "finger_top_clearance": 0.04990223439893793, + "fingertip_min_top_clearance": 0.014970670319681344, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01248657233548016, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04793972057649182, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5741835853085226, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3092539615755178, + -0.3869347282270492, + 0.8515396095475897 + ], + "target_position": [ + 0.3054589808447874, + -0.3875357750824204, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0038422826638557944, + "xy_threshold": 0.08, + "gripper_dist": 0.1809490419106029, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396095475897, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573069784310212, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08904433927135856, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14862192198544139, + "release_required_pad_clearance": 0.05452216963567928, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.077105465657802, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008751511573791504, + "max_z_decrease": 0.008751511573791504, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034999696376191804, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008751511573791504, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020974295358560286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008751511573791504, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00875251742359323, + "max_button_displacement": 0.12, + "button_start": [ + 0.16115890443325043, + -0.4437972307205201, + 0.7768088579177856 + ], + "button_final": [ + 0.16115890443325043, + -0.4437972307205201, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16146720575201656, + -0.44436250339278555, + 0.8038206698168853 + ], + "closest_button": [ + 0.16104942560195923, + -0.44376134872436523, + 0.7688286304473877 + ], + "closest_ee_minus_button": [ + 0.00041778015005733415, + -0.0006011546684203117, + 0.034992039369497574 + ], + "button_min_z_position": [ + 0.16103509068489075, + -0.4437495172023773, + 0.7680573463439941 + ], + "min_active_finger_to_button": 0.14543706697704617, + "closest_active_finger": [ + 0.020853959023952484, + -0.4266454875469208, + 0.8103411793708801 + ], + "closest_active_finger_button": [ + 0.16115708649158478, + -0.44380021095275884, + 0.7760966420173645 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1403031274676323, + 0.017154723405838068, + 0.034244537353515625 + ], + "min_contact_pad_to_button": 0.020974295358560286, + "closest_contact_pad": [ + 0.16103509068489075, + -0.445646591776693, + 0.7889456726016819 + ], + "closest_contact_pad_button": [ + 0.16103509068489075, + -0.4437495172023773, + 0.7680573463439941 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018970745743157047, + 0.020888326257687773 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4cdf2040becb6f958ebf39fdc74fe8dc3055f35d3a5e0317b40ee828125b76b3", + "visual_seed": 7650823286835051837, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c1b695d34fa63cb34c27184e4c01aaedf27101c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_31_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2305533229424006, + -0.0530683621126956, + 0.9983843282786373 + ], + "current_z": 0.9983843282786373, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14179782087007176, + "gripper_z": 1.0014432833532925, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22604517084306766, + -0.057585310781059676, + 1.0014432833532925 + ], + "object_minus_gripper": [ + 0.004508152099332946, + 0.004516948668364079, + -0.0030589550746551453 + ], + "object_to_gripper_xy": 0.006381712985034353, + "object_to_gripper_z": -0.0030589550746551453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2305533229424006, + -0.07704321273597385, + 0.9983843282786373 + ], + "finger_b": [ + 0.21938761793335643, + -0.0530683621126956, + 0.9983843282786373 + ], + "finger_midpoint": [ + 0.22497047043787852, + -0.06505578742433472, + 0.9983843282786373 + ], + "object_minus_finger_midpoint": [ + 0.00558285250452209, + 0.011987425311639127, + 0.0 + ], + "finger_gap": 0.026447427677517146, + "fingertip_max_gap": 0.09322230147179528, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013223713838758573, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983843282786373, + "object_top_z": 1.044206419702323, + "finger_top_clearance": 0.04582209142368576, + "fingertip_min_top_clearance": 0.013746627427105728, + "object_projection_between_fingers": 0.8217598974492922, + "object_to_finger_line_xy": 0.010121820275284892, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911115073589764, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2796793674886087, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16136496383804888, + 0.23074754138454862, + 0.7611063888054764 + ], + "gripper_position": [ + 0.1644760493311472, + 0.19421734149685174, + 1.0186331528924968 + ], + "target_minus_gripper": [ + -0.0031110854930983256, + 0.036530199887696874, + -0.25752676408702035 + ], + "held_position": [ + 0.16903973822411889, + 0.19856185952189526, + 1.0154092065804032 + ], + "held_minus_target": [ + 0.007674774386070005, + -0.03218568186265336, + 0.2543028177749268 + ], + "held_minus_gripper": [ + 0.004563688892971679, + 0.0043445180250435145, + -0.0032239463120935508 + ], + "xy_dist": 0.03666243795467584, + "held_xy_dist": 0.03308806852690271, + "held_gripper_dist": 0.007077847342591014, + "max_held_gripper_dist": 0.007088750738046016, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0154092065804032, + "required_height": 0.7911063888054765, + "gripper_z": 1.0186331528924968, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17262954038712, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8967265150377854, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.891572236676878, + "max_source_tilt_deg": 89.64648489857507, + "source_upright_tilt_deg": 2.4725317638892315, + "max_source_upright_tilt_deg": 89.65581036379524, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.891572236676878, + "source_upright_return_tilt_deg": 2.4725317638892315, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 1.3738191809196602e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1614, + 0.2307, + 0.7611 + ], + "controller_target_position": [ + 0.1614, + 0.2307, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + 0.0008, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.1626, + 0.2062, + 1.028 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.065, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001200421774209186, + 0.000774058921417999, + 0.0015380533319565557 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4725440317811667, + "source_return_step_error_deg": 1.8916014387730975, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.475361404410917, + "source_return_best_wrist_position": -1.6093599796295166, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093599796295166 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1614, + 0.2307, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1614, + 0.2307, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + 0.0008, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1626, + 0.2062, + 1.028 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.065, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001200421774209186, + 0.000774058921417999, + 0.0015380533319565557 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4725440317811667, + "pour_controller_source_return_step_error_deg": 1.8916014387730975, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.475361404410917, + "pour_controller_source_return_best_wrist_position": -1.6093599796295166, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093599796295166, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03666243795467584, + "valid_pour_held_xy_dist": 0.03308806852690271, + "valid_pour_held_gripper_dist": 0.007077847342591014, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0154092065804032, + "valid_pour_source_tilt_deg": 1.891572236676878, + "valid_pour_source_upright_tilt_deg": 2.4725317638892315, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16903973822411889, + 0.174888449621, + 1.0154092065804032 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15814237075240983, + 0.19856185952189526, + 1.0154092065804032 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16359105448826436, + 0.18672515457144762, + 1.0154092065804032 + ], + "valid_pour_held_grasp_object_position": [ + 0.16903973822411889, + 0.19856185952189526, + 1.0154092065804032 + ], + "valid_pour_held_grasp_finger_gap": 0.026061138773071063, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023965013076881442, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028781490884426573, + -0.999069026952293, + 0.032135730380187126 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005799426711536884, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033531360909921294, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16903973822411889, + 0.174888449621, + 1.0154092065804032 + ], + "held_grasp_finger_b": [ + 0.15814237075240983, + 0.19856185952189526, + 1.0154092065804032 + ], + "held_grasp_midpoint": [ + 0.16359105448826436, + 0.18672515457144762, + 1.0154092065804032 + ], + "held_grasp_object_position": [ + 0.16903973822411889, + 0.19856185952189526, + 1.0154092065804032 + ], + "held_grasp_finger_gap": 0.026061138773071063, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023965013076881442, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028781490884426573, + -0.999069026952293, + 0.032135730380187126 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005799426711536884, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033531360909921294, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21515559933181408, + -0.05326213900831306, + 0.7565864053901465 + ], + "target_position": [ + 0.2095266174323135, + -0.05613183406015488, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0063182740456133035, + "xy_threshold": 0.08, + "gripper_dist": 0.21862007057151733, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864053901465, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570637805017512, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08639669266372725, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18934641299357063, + "release_required_pad_clearance": 0.05319834633186363, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4193834184767353, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1683409518097278, + 0.22603057995611503, + 1.1618441348642314 + ], + "current_z": 1.1618441348642314, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30073774605875503, + "gripper_z": 1.1554806179147814, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16555572258897616, + 0.22204989201242384, + 1.1554806179147814 + ], + "object_minus_gripper": [ + 0.0027852292207516394, + 0.003980687943691191, + 0.006363516949450032 + ], + "object_to_gripper_xy": 0.004858330815946685, + "object_to_gripper_z": 0.006363516949450032, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1683409518097278, + 0.2030388059765157, + 1.1618441348642314 + ], + "finger_b": [ + 0.15925021864967143, + 0.22603057995611503, + 1.1618441348642314 + ], + "finger_midpoint": [ + 0.16379558522969961, + 0.21453469296631536, + 1.1618441348642314 + ], + "object_minus_finger_midpoint": [ + 0.004545366580028187, + 0.01149588698979967, + 0.0 + ], + "finger_gap": 0.024723735561527304, + "fingertip_max_gap": 0.0917512833669821, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012361867780763652, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1618441348642314, + "object_top_z": 1.2121626862589827, + "finger_top_clearance": 0.050318551394751276, + "fingertip_min_top_clearance": 0.015095565418425383, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012361867780763652, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837564168349105, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1223691457635647, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3078363988081727, + -0.38648854515826014, + 0.8515395614768505 + ], + "target_position": [ + 0.3028189979451755, + -0.38718844271516223, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005065981445895981, + "xy_threshold": 0.08, + "gripper_dist": 0.1823110442231667, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395614768505, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554402665733133, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08676125343660555, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.150418684544651, + "release_required_pad_clearance": 0.05338062671830278, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7769081450973228, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008627831935882568, + "max_z_decrease": 0.008627831935882568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500780958468523, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008627831935882568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02089229736920396, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008627831935882568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00862818112552978, + "max_button_displacement": 0.12, + "button_start": [ + 0.1585189253091812, + -0.44344991445541376, + 0.7768088579177856 + ], + "button_final": [ + 0.1585189253091812, + -0.44344991445541376, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15891607362625354, + -0.4435416774473292, + 0.8031854733417024 + ], + "closest_button": [ + 0.1584441065788269, + -0.44342923164367676, + 0.7681810259819031 + ], + "closest_ee_minus_button": [ + 0.00047196704742663576, + -0.00011244580365243895, + 0.03500444735979935 + ], + "button_min_z_position": [ + 0.1584441065788269, + -0.44342923164367676, + 0.7681810259819031 + ], + "min_active_finger_to_button": 0.14543948569335632, + "closest_active_finger": [ + 0.017949186265468597, + -0.42846158146858215, + 0.8105475306510925 + ], + "closest_active_finger_button": [ + 0.15851318836212158, + -0.44345059990882874, + 0.7763461470603943 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14056400209665298, + 0.014989018440246582, + 0.03420138359069824 + ], + "min_contact_pad_to_button": 0.02089229736920396, + "closest_contact_pad": [ + 0.1584441065788269, + -0.4446278204418035, + 0.7890389135608563 + ], + "closest_contact_pad_button": [ + 0.1584441065788269, + -0.44342923164367676, + 0.7681810259819031 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011985887981267318, + 0.020857887578953238 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "951bba1f6861b08ae5e56a6683738708be01e9355adb0cf2df8aacf3f7ce805e", + "visual_seed": 5569326716791426293, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..29dd52fe3c05fb4695c1e3a6a8754197467effdf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_32_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23840932807337284, + -0.04859165271799173, + 0.9982286436087388 + ], + "current_z": 0.9982286436087388, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14164219580481796, + "gripper_z": 1.0012276388998358, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23404624294879978, + -0.052889550836727736, + 1.0012276388998358 + ], + "object_minus_gripper": [ + 0.004363085124573063, + 0.0042978981187360085, + -0.0029989952910970397 + ], + "object_to_gripper_xy": 0.006124413444837412, + "object_to_gripper_z": -0.0029989952910970397, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23840932807337284, + -0.07276857019251375, + 0.9982286436087388 + ], + "finger_b": [ + 0.22790199438037737, + -0.04859165271799173, + 0.9982286436087388 + ], + "finger_midpoint": [ + 0.2331556612268751, + -0.06068011145525273, + 0.9982286436087388 + ], + "object_minus_finger_midpoint": [ + 0.005253666846497751, + 0.012088458737261006, + 0.0 + ], + "finger_gap": 0.026361475677696915, + "fingertip_max_gap": 0.09275908912112316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318073783884846, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9982286436087388, + "object_top_z": 1.0440027199016682, + "finger_top_clearance": 0.0457740762929294, + "fingertip_min_top_clearance": 0.01373222288787882, + "object_projection_between_fingers": 0.8411286396954234, + "object_to_finger_line_xy": 0.009636597839920715, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887954456056158, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8191211547839323, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15523635465759844, + 0.2346916254328198, + 0.7611064484101213 + ], + "gripper_position": [ + 0.15871082159887026, + 0.1968652304300202, + 1.0164083130900963 + ], + "target_minus_gripper": [ + -0.00347446694127182, + 0.03782639500279961, + -0.25530186467997495 + ], + "held_position": [ + 0.1630408575905955, + 0.20109225789393972, + 1.0132618561807842 + ], + "held_minus_target": [ + 0.0078045029329970594, + -0.03359936753888007, + 0.2521554077706629 + ], + "held_minus_gripper": [ + 0.0043300359917252396, + 0.004227027463919536, + -0.0031464569093120343 + ], + "xy_dist": 0.0379856299070295, + "held_xy_dist": 0.03449388011001238, + "held_gripper_dist": 0.006820349254438767, + "max_held_gripper_dist": 0.006824834924225643, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0132618561807842, + "required_height": 0.7911064484101213, + "gripper_z": 1.0164083130900963, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18918591893524, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.56262314820092, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9130167341367073, + "max_source_tilt_deg": 89.9154585200922, + "source_upright_tilt_deg": 3.0662690599487377, + "max_source_upright_tilt_deg": 89.93543780194204, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9130167341367073, + "source_upright_return_tilt_deg": 3.0662690599487377, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.4136482746161726e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1552, + 0.2347, + 0.7611 + ], + "controller_target_position": [ + 0.1552, + 0.2347, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.001, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.1535, + 0.2084, + 1.025 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0689, + 0.0659, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001772472125975878, + -0.0009532167793308353, + -0.0014173828893007624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0662588816755747, + "source_return_step_error_deg": 1.9130558175038628, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.069169942665488, + "source_return_best_wrist_position": -1.6100318431854248, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100318431854248 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1552, + 0.2347, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1552, + 0.2347, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.001, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1535, + 0.2084, + 1.025 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0689, + 0.0659, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001772472125975878, + -0.0009532167793308353, + -0.0014173828893007624 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0662588816755747, + "pour_controller_source_return_step_error_deg": 1.9130558175038628, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.069169942665488, + "pour_controller_source_return_best_wrist_position": -1.6100318431854248, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100318431854248, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0379856299070295, + "valid_pour_held_xy_dist": 0.03449388011001238, + "valid_pour_held_gripper_dist": 0.006820349254438767, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0132618561807842, + "valid_pour_source_tilt_deg": 1.9130167341367073, + "valid_pour_source_upright_tilt_deg": 3.0662690599487377, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1630408575905955, + 0.177588921570221, + 1.0132618561807842 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15231379217634378, + 0.20109225789393972, + 1.0132618561807842 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15767732488346964, + 0.18934058973208034, + 1.0132618561807842 + ], + "valid_pour_held_grasp_object_position": [ + 0.1630408575905955, + 0.20109225789393972, + 1.0132618561807842 + ], + "valid_pour_held_grasp_finger_gap": 0.025835571422894287, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023924855606060762, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04243173508172544, + -0.9985683430192044, + 0.03257011172585955 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005869596192517942, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03369296516064226, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1630408575905955, + 0.177588921570221, + 1.0132618561807842 + ], + "held_grasp_finger_b": [ + 0.15231379217634378, + 0.20109225789393972, + 1.0132618561807842 + ], + "held_grasp_midpoint": [ + 0.15767732488346964, + 0.18934058973208034, + 1.0132618561807842 + ], + "held_grasp_object_position": [ + 0.1630408575905955, + 0.20109225789393972, + 1.0132618561807842 + ], + "held_grasp_finger_gap": 0.025835571422894287, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023924855606060762, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04243173508172544, + -0.9985683430192044, + 0.03257011172585955 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005869596192517942, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03369296516064226, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20999857149418272, + -0.05119619720726103, + 0.7565863179053542 + ], + "target_position": [ + 0.21586832232360714, + -0.05075889984443373, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0058860176505906294, + "xy_threshold": 0.08, + "gripper_dist": 0.2110066103476229, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863179053542, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566102177191937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08769092404266142, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1822042601634416, + "release_required_pad_clearance": 0.05384546202133071, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.70004400344846, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16194741114525388, + 0.23230696540967147, + 1.1642951847445087 + ], + "current_z": 1.1642951847445087, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3031886767297427, + "gripper_z": 1.1580203434957463, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15928235868597254, + 0.22847352175972496, + 1.1580203434957463 + ], + "object_minus_gripper": [ + 0.0026650524592813363, + 0.003833443649946505, + 0.0062748412487623195 + ], + "object_to_gripper_xy": 0.004668810858027629, + "object_to_gripper_z": 0.0062748412487623195, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16194741114525388, + 0.20926864878815987, + 1.1642951847445087 + ], + "finger_b": [ + 0.15324025470666244, + 0.23230696540967147, + 1.1642951847445087 + ], + "finger_midpoint": [ + 0.15759383292595816, + 0.22078780709891566, + 1.1642951847445087 + ], + "object_minus_finger_midpoint": [ + 0.004353578219295717, + 0.011519158310755812, + 0.0 + ], + "finger_gap": 0.024628816577316942, + "fingertip_max_gap": 0.09160764539418595, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012314408288658483, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642951847445087, + "object_top_z": 1.214556845027519, + "finger_top_clearance": 0.05026166028301038, + "fingertip_min_top_clearance": 0.015078498084903146, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012314408288658483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830382269709298, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.019144263063483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.311855309959712, + -0.3805554987708426, + 0.8515395804567124 + ], + "target_position": [ + 0.3068395603608636, + -0.3810266124553151, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005037826132573993, + "xy_threshold": 0.08, + "gripper_dist": 0.1797796696577114, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395804567124, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755076541574137, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670947220572776, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.147866809222224, + "release_required_pad_clearance": 0.053354736102863884, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7259617910662104, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00853806734085083, + "max_z_decrease": 0.00853806734085083, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499387950767608, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00853806734085083, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02094522800343738, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00853806734085083, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00853819729053302, + "max_button_displacement": 0.12, + "button_start": [ + 0.16253948211669922, + -0.4372880756855011, + 0.7768088579177856 + ], + "button_final": [ + 0.16253948211669922, + -0.4372880756855011, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16215157722363505, + -0.43734971915873483, + 0.8032628431821425 + ], + "closest_button": [ + 0.16249880194664001, + -0.4372643232345581, + 0.7682707905769348 + ], + "closest_ee_minus_button": [ + -0.00034722472300496854, + -8.539592417672326e-05, + 0.03499205260520766 + ], + "button_min_z_position": [ + 0.16249880194664001, + -0.4372643232345581, + 0.7682707905769348 + ], + "min_active_finger_to_button": 0.14617302569079993, + "closest_active_finger": [ + 0.0341692715883255, + -0.4982627034187317, + 0.8105319738388062 + ], + "closest_active_finger_button": [ + 0.16253885626792908, + -0.4372916519641876, + 0.7763218283653259 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12836958467960358, + -0.06097105145454407, + 0.034210145473480225 + ], + "min_contact_pad_to_button": 0.02094522800343738, + "closest_contact_pad": [ + 0.16249880194664001, + -0.4387263503212085, + 0.7891649297770521 + ], + "closest_contact_pad_button": [ + 0.16249880194664001, + -0.4372643232345581, + 0.7682707905769348 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001462027086650386, + 0.02089413920011729 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f2e67f465838c546bf0f910c8c6d3ad46b9759288412f1448eb46a61fb42a9a8", + "visual_seed": 6903420866167258231, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e221421181d26ebd26c400f7eaffb1e9121b3199 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_33_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23949615034065588, + -0.05045978250714356, + 0.9952781887316426 + ], + "current_z": 0.9952781887316426, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.13869180053236663, + "gripper_z": 0.9981170744786574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23518510377081966, + -0.054913990539662394, + 0.9981170744786574 + ], + "object_minus_gripper": [ + 0.004311046569836219, + 0.004454208032518836, + -0.002838885747014741 + ], + "object_to_gripper_xy": 0.006198797603104327, + "object_to_gripper_z": -0.002838885747014741, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23949615034065588, + -0.07424366004514538, + 0.9952781887316426 + ], + "finger_b": [ + 0.228342079728503, + -0.05045978250714356, + 0.9952781887316426 + ], + "finger_midpoint": [ + 0.23391911503457946, + -0.06235172127614447, + 0.9952781887316426 + ], + "object_minus_finger_midpoint": [ + 0.005577035306076422, + 0.01189193876900091, + 0.0 + ], + "finger_gap": 0.02626949032553848, + "fingertip_max_gap": 0.09333336769608028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013134745162769234, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952781887316426, + "object_top_z": 1.041129147112766, + "finger_top_clearance": 0.0458509583811233, + "fingertip_min_top_clearance": 0.013755287514337005, + "object_projection_between_fingers": 0.8197133846614841, + "object_to_finger_line_xy": 0.01009867516279004, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916668384804014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.410929349816519, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1633309038366756, + 0.23108590205177734, + 0.7611065676194109 + ], + "gripper_position": [ + 0.16702055393607781, + 0.19460927301730233, + 1.018038894967695 + ], + "target_minus_gripper": [ + -0.003689650099402225, + 0.03647662903447502, + -0.2569323273482842 + ], + "held_position": [ + 0.1714589049411145, + 0.1988286155494469, + 1.0150411245973072 + ], + "held_minus_target": [ + 0.008128001104438898, + -0.03225728650233045, + 0.25393455697789635 + ], + "held_minus_gripper": [ + 0.004438351005036673, + 0.0042193425321445654, + -0.0029977703703878422 + ], + "xy_dist": 0.03666276017397933, + "held_xy_dist": 0.03326555176826607, + "held_gripper_dist": 0.0068182430464929465, + "max_held_gripper_dist": 0.0068230054011806365, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194109, + "held_z": 1.0150411245973072, + "required_height": 0.7911065676194109, + "gripper_z": 1.018038894967695, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16827187969666, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.667323536796858, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.064539882274466, + "max_source_tilt_deg": 89.67240250644072, + "source_upright_tilt_deg": 1.943398789848864, + "max_source_upright_tilt_deg": 89.75337860518323, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.064539882274466, + "source_upright_return_tilt_deg": 1.943398789848864, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 7.450580596923828e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1633, + 0.2311, + 0.7611 + ], + "controller_target_position": [ + 0.1633, + 0.2311, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.001, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1642, + 0.2068, + 1.027 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0639, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008203528209261984, + 0.0010484230114885923, + 0.0005523084104700742 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9433994271906783, + "source_return_step_error_deg": 2.0645336731074933, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0604197438148746, + "source_return_best_wrist_position": -1.60941481590271, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60941481590271 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1633, + 0.2311, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1633, + 0.2311, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.001, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1642, + 0.2068, + 1.027 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0639, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008203528209261984, + 0.0010484230114885923, + 0.0005523084104700742 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9433994271906783, + "pour_controller_source_return_step_error_deg": 2.0645336731074933, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0604197438148746, + "pour_controller_source_return_best_wrist_position": -1.60941481590271, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60941481590271, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03666276017397933, + "valid_pour_held_xy_dist": 0.03326555176826607, + "valid_pour_held_gripper_dist": 0.0068182430464929465, + "valid_pour_required_height": 0.7911065676194109, + "valid_pour_held_z": 1.0150411245973072, + "valid_pour_source_tilt_deg": 2.064539882274466, + "valid_pour_source_upright_tilt_deg": 1.943398789848864, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1714589049411145, + 0.17507046650699354, + 1.0150411245973072 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16097305260663272, + 0.1988286155494469, + 1.0150411245973072 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16621597877387362, + 0.1869495410282202, + 1.0150411245973072 + ], + "valid_pour_held_grasp_object_position": [ + 0.1714589049411145, + 0.1988286155494469, + 1.0150411245973072 + ], + "valid_pour_held_grasp_finger_gap": 0.025969265393999574, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02389257857630879, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014123282144926173, + -0.9994248239974393, + 0.03083105705522471 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005422480021262886, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0334020303287063, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1714589049411145, + 0.17507046650699354, + 1.0150411245973072 + ], + "held_grasp_finger_b": [ + 0.16097305260663272, + 0.1988286155494469, + 1.0150411245973072 + ], + "held_grasp_midpoint": [ + 0.16621597877387362, + 0.1869495410282202, + 1.0150411245973072 + ], + "held_grasp_object_position": [ + 0.1714589049411145, + 0.1988286155494469, + 1.0150411245973072 + ], + "held_grasp_finger_gap": 0.025969265393999574, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02389257857630879, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014123282144926173, + -0.9994248239974393, + 0.03083105705522471 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005422480021262886, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0334020303287063, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21652755037883606, + -0.044750035285002814, + 0.7565865876774802 + ], + "target_position": [ + 0.21761479930889813, + -0.05092746184600144, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006272376674949653, + "xy_threshold": 0.08, + "gripper_dist": 0.21459805496272555, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865876774802, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548367750613698, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860361801766381, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18735041114354417, + "release_required_pad_clearance": 0.05301809008831905, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0682502720740594, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1702168114694832, + 0.22673661895302358, + 1.163089028505547 + ], + "current_z": 1.163089028505547, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30198246088613623, + "gripper_z": 1.156954600643255, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16733366343249262, + 0.2228351145232856, + 1.156954600643255 + ], + "object_minus_gripper": [ + 0.0028831480369905793, + 0.0039015044297379675, + 0.0061344278622921244 + ], + "object_to_gripper_xy": 0.004851214221044832, + "object_to_gripper_z": 0.0061344278622921244, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1702168114694832, + 0.20343995232848017, + 1.163089028505547 + ], + "finger_b": [ + 0.16155438809463224, + 0.22673661895302358, + 1.163089028505547 + ], + "finger_midpoint": [ + 0.16588559978205772, + 0.2150882856407519, + 1.163089028505547 + ], + "object_minus_finger_midpoint": [ + 0.004331211687425479, + 0.011648333312271691, + 0.0 + ], + "finger_gap": 0.024855024734252006, + "fingertip_max_gap": 0.09198558134759999, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012427512367125991, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163089028505547, + "object_top_z": 1.213362062626735, + "finger_top_clearance": 0.05027303412118789, + "fingertip_min_top_clearance": 0.015081910236356333, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012427512367125991, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048492790673799996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2806129902245482, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31171538126985715, + -0.38583113051241813, + 0.851539600137658 + ], + "target_position": [ + 0.3067704940745072, + -0.38667990194275154, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005017202638491521, + "xy_threshold": 0.08, + "gripper_dist": 0.18442183663742182, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539600137658, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568485024868012, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08535860572805874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15204575629333958, + "release_required_pad_clearance": 0.05267930286402937, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.41495810346570206, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008745908737182617, + "max_z_decrease": 0.008745908737182617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349996350545779, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008745908737182617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02090934544348548, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008745908737182617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008746230578652033, + "max_button_displacement": 0.12, + "button_start": [ + 0.16247041523456568, + -0.4429413676261902, + 0.7768088579177856 + ], + "button_final": [ + 0.16247041523456568, + -0.4429413676261902, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16252318501691887, + -0.4431211068939265, + 0.8030617380508603 + ], + "closest_button": [ + 0.1624023169279098, + -0.4429098665714264, + 0.768062949180603 + ], + "closest_ee_minus_button": [ + 0.00012086808900907409, + -0.00021124032250008362, + 0.034998788870257314 + ], + "button_min_z_position": [ + 0.1624023169279098, + -0.4429098665714264, + 0.768062949180603 + ], + "min_active_finger_to_button": 0.14575092459924277, + "closest_active_finger": [ + 0.02171202003955841, + -0.42682960629463196, + 0.8109824061393738 + ], + "closest_active_finger_button": [ + 0.16247242689132685, + -0.4429405629634857, + 0.7767730951309204 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14076040685176844, + 0.01611095666885376, + 0.03420931100845337 + ], + "min_contact_pad_to_button": 0.02090934544348548, + "closest_contact_pad": [ + 0.1624023169279098, + -0.44431524843664405, + 0.7889250111277818 + ], + "closest_contact_pad_button": [ + 0.1624023169279098, + -0.4429098665714264, + 0.768062949180603 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014053818652176586, + 0.020862061947178767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8106cfb8c21c49c1becaa30c49bee8a5fd787ac8ab8ea7a3daa0dc6959f63d68", + "visual_seed": 6697087129102457311, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0d9741f0236824cff258e0ec97cfe5d05545447 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_34_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23784277134087742, + -0.05297687144418922, + 0.9966842033107588 + ], + "current_z": 0.9966842033107588, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14009763629754846, + "gripper_z": 0.9994528605499321, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23352834502431558, + -0.05744636794008827, + 0.9994528605499321 + ], + "object_minus_gripper": [ + 0.004314426316561842, + 0.004469496495899047, + -0.0027686572391733 + ], + "object_to_gripper_xy": 0.006212139194182247, + "object_to_gripper_z": -0.0027686572391733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23784277134087742, + -0.0767371348416778, + 0.9966842033107588 + ], + "finger_b": [ + 0.22664489503212448, + -0.05297687144418922, + 0.9966842033107588 + ], + "finger_midpoint": [ + 0.23224383318650094, + -0.06485700314293351, + 0.9966842033107588 + ], + "object_minus_finger_midpoint": [ + 0.005598938154376482, + 0.011880131698744287, + 0.0 + ], + "finger_gap": 0.026266757518661598, + "fingertip_max_gap": 0.0931349243424475, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133378759330804, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9966842033107588, + "object_top_z": 1.0425067704983104, + "finger_top_clearance": 0.04582256718755162, + "fingertip_min_top_clearance": 0.013746770156265487, + "object_projection_between_fingers": 0.818256703072985, + "object_to_finger_line_xy": 0.010129323743116654, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906746217122375, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.282854693078422, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15456563849110222, + 0.2342941667602964, + 0.7611063888054763 + ], + "gripper_position": [ + 0.15874907979120476, + 0.19741933985374244, + 1.018418025927577 + ], + "target_minus_gripper": [ + -0.004183441300102536, + 0.03687482690655397, + -0.2573116371221007 + ], + "held_position": [ + 0.16318134672794185, + 0.20166584390220008, + 1.0154877888100582 + ], + "held_minus_target": [ + 0.008615708236839631, + -0.03262832285809633, + 0.25438140000458187 + ], + "held_minus_gripper": [ + 0.004432266936737095, + 0.004246504048457639, + -0.00293023711751883 + ], + "xy_dist": 0.03711137346555258, + "held_xy_dist": 0.033746672146369006, + "held_gripper_dist": 0.0068017700929202994, + "max_held_gripper_dist": 0.006806080204131024, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0154877888100582, + "required_height": 0.7911063888054763, + "gripper_z": 1.018418025927577, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17219240828024, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4391678534751373, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9889937071497301, + "max_source_tilt_deg": 89.9228142059611, + "source_upright_tilt_deg": 1.9747675849378759, + "max_source_upright_tilt_deg": 89.71919316858546, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9889937071497301, + "source_upright_return_tilt_deg": 1.9747675849378759, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.143906154658885e-08, + "max_target_xy_drift": 1.645887049613485e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1546, + 0.2343, + 0.7611 + ], + "controller_target_position": [ + 0.1546, + 0.2343, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0004, + 0.0014 + ], + "controller_last_pour_pose_position": [ + 0.1561, + 0.2093, + 1.0279 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.064, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001566485951572974, + 0.0004065477646368826, + 0.0013941859894955537 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9747731771326267, + "source_return_step_error_deg": 1.9890032041682375, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.985442156947388, + "source_return_best_wrist_position": -1.6095952987670898, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095952987670898 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1546, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1546, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0004, + 0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1561, + 0.2093, + 1.0279 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.064, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001566485951572974, + 0.0004065477646368826, + 0.0013941859894955537 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9747731771326267, + "pour_controller_source_return_step_error_deg": 1.9890032041682375, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.985442156947388, + "pour_controller_source_return_best_wrist_position": -1.6095952987670898, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095952987670898, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03711137346555258, + "valid_pour_held_xy_dist": 0.033746672146369006, + "valid_pour_held_gripper_dist": 0.0068017700929202994, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0154877888100582, + "valid_pour_source_tilt_deg": 1.9889937071497301, + "valid_pour_source_upright_tilt_deg": 1.9747675849378759, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.143906154658885e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16318134672794185, + 0.1779627651975389, + 1.0154877888100582 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15259698101899366, + 0.20166584390220008, + 1.0154877888100582 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15788916387346774, + 0.18981430454986947, + 1.0154877888100582 + ], + "valid_pour_held_grasp_object_position": [ + 0.16318134672794185, + 0.20166584390220008, + 1.0154877888100582 + ], + "valid_pour_held_grasp_finger_gap": 0.025958904783139843, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023838531525786556, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01412743080529681, + -0.9994061078216402, + 0.03143003893796071 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005471700098282552, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03343048909708862, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16318134672794185, + 0.1779627651975389, + 1.0154877888100582 + ], + "held_grasp_finger_b": [ + 0.15259698101899366, + 0.20166584390220008, + 1.0154877888100582 + ], + "held_grasp_midpoint": [ + 0.15788916387346774, + 0.18981430454986947, + 1.0154877888100582 + ], + "held_grasp_object_position": [ + 0.16318134672794185, + 0.20166584390220008, + 1.0154877888100582 + ], + "held_grasp_finger_gap": 0.025958904783139843, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023838531525786556, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01412743080529681, + -0.9994061078216402, + 0.03143003893796071 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005471700098282552, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03343048909708862, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20984186350334968, + -0.046855028683643815, + 0.756586169402754 + ], + "target_position": [ + 0.21636384754585758, + -0.05479182107612198, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010272728426860457, + "xy_threshold": 0.08, + "gripper_dist": 0.21013237597351442, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586169402754, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754571052727217, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08851783324113909, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18354931176680983, + "release_required_pad_clearance": 0.054258916620569544, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.536257953506781, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1612523792512399, + 0.23059148609244945, + 1.161313573899489 + ], + "current_z": 1.161313573899489, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3002071850940128, + "gripper_z": 1.1550228252916734, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1584762891986083, + 0.22682153289253507, + 1.1550228252916734 + ], + "object_minus_gripper": [ + 0.0027760900526316024, + 0.003769953199914383, + 0.006290748607815644 + ], + "object_to_gripper_xy": 0.004681796995798177, + "object_to_gripper_z": 0.006290748607815644, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1612523792512399, + 0.20737331799614214, + 1.161313573899489 + ], + "finger_b": [ + 0.15279503566638072, + 0.23059148609244945, + 1.161313573899489 + ], + "finger_midpoint": [ + 0.1570237074588103, + 0.2189824020442958, + 1.161313573899489 + ], + "object_minus_finger_midpoint": [ + 0.004228671792429584, + 0.01160908404815364, + 0.0 + ], + "finger_gap": 0.02471052387669555, + "fingertip_max_gap": 0.09131121556870936, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012355261938347762, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161313573899489, + "object_top_z": 1.211367886764005, + "finger_top_clearance": 0.05005431286451589, + "fingertip_min_top_clearance": 0.015016293859354768, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012355261938347762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815560778435468, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8584220947854219, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3064762543046746, + -0.381014528329226, + 0.8515395627559894 + ], + "target_position": [ + 0.3008965124272362, + -0.3814436949284675, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005596222242615516, + "xy_threshold": 0.08, + "gripper_dist": 0.18167738983050444, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395627559894, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075204014832974, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576728551636291, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15051146751466157, + "release_required_pad_clearance": 0.05288364275818146, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8079353265946717, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008382201194763184, + "max_z_decrease": 0.008382201194763184, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511326127740138, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008382201194763184, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020890522479322104, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008382201194763184, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.00838276189325958, + "max_button_displacement": 0.12, + "button_start": [ + 0.15659643709659576, + -0.4377051591873169, + 0.7768088579177856 + ], + "button_final": [ + 0.15659643709659576, + -0.4377051591873169, + 0.7768089175224304 + ], + "closest_ee": [ + 0.15861751897470786, + -0.436115228173486, + 0.803807168261974 + ], + "closest_button": [ + 0.15650753676891324, + -0.4376792311668396, + 0.7687922716140747 + ], + "closest_ee_minus_button": [ + 0.002109982205794614, + 0.0015640029933535748, + 0.03501489664789925 + ], + "button_min_z_position": [ + 0.15650148689746857, + -0.4376855492591858, + 0.7684266567230225 + ], + "min_active_finger_to_button": 0.1433327245029966, + "closest_active_finger": [ + 0.03161776065826416, + -0.4990283250808716, + 0.8106388449668884 + ], + "closest_active_finger_button": [ + 0.15659616887569427, + -0.43770614266395574, + 0.7765176296234131 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12497840821743011, + -0.06132218241691584, + 0.03412121534347534 + ], + "min_contact_pad_to_button": 0.020890522479322104, + "closest_contact_pad": [ + 0.15650148689746857, + -0.4376855492591858, + 0.7893171792023446 + ], + "closest_contact_pad_button": [ + 0.15650148689746857, + -0.4376855492591858, + 0.7684266567230225 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020890522479322104 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0d2ab96bed17dfb6340ab69c53ae1f42e7c64f7e052a89543c0b2b701c6a0b7a", + "visual_seed": 2924794713296998534, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d820e5c123fcd9b30b9e2e4ec22b4a7f0112608 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_35_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23670937816756513, + -0.05208616082738593, + 0.9967148488089825 + ], + "current_z": 0.9967148488089825, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14012840100506174, + "gripper_z": 0.999445947320006, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23234872418725558, + -0.05640144660368508, + 0.999445947320006 + ], + "object_minus_gripper": [ + 0.004360653980309548, + 0.004315285776299152, + -0.0027310985110234887 + ], + "object_to_gripper_xy": 0.0061348997112519515, + "object_to_gripper_z": -0.0027310985110234887, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23670937816756513, + -0.07621422108252177, + 0.9967148488089825 + ], + "finger_b": [ + 0.22613929864964427, + -0.05208616082738593, + 0.9967148488089825 + ], + "finger_midpoint": [ + 0.2314243384086047, + -0.06415019095495385, + 0.9967148488089825 + ], + "object_minus_finger_midpoint": [ + 0.005285039758960414, + 0.012064030127567918, + 0.0 + ], + "finger_gap": 0.026341789473963904, + "fingertip_max_gap": 0.09300716848884097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013170894736981947, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9967148488089825, + "object_top_z": 1.0425525677021976, + "finger_top_clearance": 0.045837718893215085, + "fingertip_min_top_clearance": 0.013751315667964526, + "object_projection_between_fingers": 0.8389851395554491, + "object_to_finger_line_xy": 0.009681783986697152, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900358424442049, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.94173544609767, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15535529572624773, + 0.2374430354402967, + 0.7611064484101213 + ], + "gripper_position": [ + 0.15920808472179018, + 0.19965187996865102, + 1.0179406682049765 + ], + "target_minus_gripper": [ + -0.00385278899554245, + 0.03779115547164569, + -0.2568342197948552 + ], + "held_position": [ + 0.1635796396327313, + 0.20385541738904384, + 1.0150551323259867 + ], + "held_minus_target": [ + 0.008224343906483578, + -0.03358761805125288, + 0.25394868391586534 + ], + "held_minus_gripper": [ + 0.004371554910941128, + 0.004203537420392811, + -0.0028855358789898755 + ], + "xy_dist": 0.03798704272414831, + "held_xy_dist": 0.03457987737180341, + "held_gripper_dist": 0.006716139999505223, + "max_held_gripper_dist": 0.006720188854757508, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0150551323259867, + "required_height": 0.7911064484101213, + "gripper_z": 1.0179406682049765, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1742073140854, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.506018770710347, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9997018805753681, + "max_source_tilt_deg": 89.88418182089434, + "source_upright_tilt_deg": 2.666530936191468, + "max_source_upright_tilt_deg": 89.86677936411174, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9997018805753681, + "source_upright_return_tilt_deg": 2.666530936191468, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.228781230931777e-07, + "max_target_xy_drift": 2.3276357876976293e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1554, + 0.2374, + 0.7611 + ], + "controller_target_position": [ + 0.1554, + 0.2374, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.001, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.156, + 0.2111, + 1.0277 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0684, + 0.0653, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006672712155344714, + -0.0010254371767728547, + 0.0013152822383883482 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.6665455891467706, + "source_return_step_error_deg": 1.9997281941488934, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6684668738462087, + "source_return_best_wrist_position": -1.6097006797790527, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097006797790527 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1554, + 0.2374, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1554, + 0.2374, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.001, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.156, + 0.2111, + 1.0277 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0684, + 0.0653, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006672712155344714, + -0.0010254371767728547, + 0.0013152822383883482 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.6665455891467706, + "pour_controller_source_return_step_error_deg": 1.9997281941488934, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6684668738462087, + "pour_controller_source_return_best_wrist_position": -1.6097006797790527, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097006797790527, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03798704272414831, + "valid_pour_held_xy_dist": 0.03457987737180341, + "valid_pour_held_gripper_dist": 0.006716139999505223, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0150551323259867, + "valid_pour_source_tilt_deg": 1.9997018805753681, + "valid_pour_source_upright_tilt_deg": 2.666530936191468, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.228781230931777e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1635796396327313, + 0.18019947144396914, + 1.0150551323259867 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15304795412985445, + 0.20385541738904384, + 1.0150551323259867 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15831379688129288, + 0.1920274444165065, + 1.0150551323259867 + ], + "valid_pour_held_grasp_object_position": [ + 0.1635796396327313, + 0.20385541738904384, + 1.0150551323259867 + ], + "valid_pour_held_grasp_finger_gap": 0.025894404377930818, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02397917017784867, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03312273000482166, + -0.9989172302518368, + 0.03266882096168633 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005667720513345609, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355947805229392, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1635796396327313, + 0.18019947144396914, + 1.0150551323259867 + ], + "held_grasp_finger_b": [ + 0.15304795412985445, + 0.20385541738904384, + 1.0150551323259867 + ], + "held_grasp_midpoint": [ + 0.15831379688129288, + 0.1920274444165065, + 1.0150551323259867 + ], + "held_grasp_object_position": [ + 0.1635796396327313, + 0.20385541738904384, + 1.0150551323259867 + ], + "held_grasp_finger_gap": 0.025894404377930818, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02397917017784867, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03312273000482166, + -0.9989172302518368, + 0.03266882096168633 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005667720513345609, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355947805229392, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21164830262085127, + -0.051911180171100586, + 0.7565862809208934 + ], + "target_position": [ + 0.2145727982795761, + -0.05320823645661908, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0031992233222617296, + "xy_threshold": 0.08, + "gripper_dist": 0.21481254226444021, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862809208934, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07595605109642185, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08894609857040083, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18581432422295432, + "release_required_pad_clearance": 0.054473049285200414, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9758101612648025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16224525718439425, + 0.23441113445950817, + 1.161168573115903 + ], + "current_z": 1.161168573115903, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30006206510113687, + "gripper_z": 1.1549853444965443, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15933451315567923, + 0.23053752656112578, + 1.1549853444965443 + ], + "object_minus_gripper": [ + 0.0029107440287150232, + 0.0038736078983823974, + 0.006183228619358605 + ], + "object_to_gripper_xy": 0.004845334761511392, + "object_to_gripper_z": 0.006183228619358605, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16224525718439425, + 0.21114197498500895, + 1.161168573115903 + ], + "finger_b": [ + 0.15356706978947335, + 0.23441113445950817, + 1.161168573115903 + ], + "finger_midpoint": [ + 0.15790616348693381, + 0.22277655472225855, + 1.161168573115903 + ], + "object_minus_finger_midpoint": [ + 0.004339093697460439, + 0.011634579737249628, + 0.0 + ], + "finger_gap": 0.024834748219199673, + "fingertip_max_gap": 0.09146191610118753, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012417374109599845, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161168573115903, + "object_top_z": 1.2113320871147573, + "finger_top_clearance": 0.050163513998854325, + "fingertip_min_top_clearance": 0.015049054199656298, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012417374109599845, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823095805059377, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9300374271471684, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30523189176811305, + -0.3873502266061615, + 0.8515395130721116 + ], + "target_position": [ + 0.30000627269218766, + -0.3877247090391677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005239020120147052, + "xy_threshold": 0.08, + "gripper_dist": 0.1849420511860812, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395130721116, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551627427835433, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697143305304865, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15285188016066167, + "release_required_pad_clearance": 0.05348571652652433, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9841847071579437, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00848233699798584, + "max_z_decrease": 0.00848233699798584, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350160098636514, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00848233699798584, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020853361596434722, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00848233699798584, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008482547687759976, + "max_button_displacement": 0.12, + "button_start": [ + 0.15570619702339167, + -0.443986177444458, + 0.7768088579177856 + ], + "button_final": [ + 0.15570619702339167, + -0.443986177444458, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15489995161810874, + -0.4428334422274069, + 0.8033160950785612 + ], + "closest_button": [ + 0.15564890205860132, + -0.4439691007137299, + 0.7683265209197998 + ], + "closest_ee_minus_button": [ + -0.0007489504404925851, + 0.0011356584863230212, + 0.03498957415876136 + ], + "button_min_z_position": [ + 0.15564890205860132, + -0.4439691007137299, + 0.7683265209197998 + ], + "min_active_finger_to_button": 0.1460170874891005, + "closest_active_finger": [ + 0.02694018930196762, + -0.5037959218025208, + 0.8105219602584839 + ], + "closest_active_finger_button": [ + 0.15570242702960962, + -0.44398763775825506, + 0.7764009237289429 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.128762237727642, + -0.05980828404426569, + 0.034121036529541016 + ], + "min_contact_pad_to_button": 0.020853361596434722, + "closest_contact_pad": [ + 0.15564890205860132, + -0.4442055942692756, + 0.7891785414614606 + ], + "closest_contact_pad_button": [ + 0.15564890205860132, + -0.4439691007137299, + 0.7683265209197998 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002364935555456693, + 0.0208520205416608 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d2199ea2d58f6084617f2884f0afdce634139da5bd5ae0d90ea40f5a70e3308", + "visual_seed": 3619378064244465840, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0444570542c1d40b62afadea4c0da7c7bb21f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_36_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.230496328628261, + -0.05050865592012358, + 0.9965756255222762 + ], + "current_z": 0.9965756255222762, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1399891777183554, + "gripper_z": 0.9994761111919388, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22618224850255747, + -0.055026821072078486, + 0.9994761111919388 + ], + "object_minus_gripper": [ + 0.004314080125703529, + 0.004518165151954905, + -0.0029004856696626113 + ], + "object_to_gripper_xy": 0.006247007577338919, + "object_to_gripper_z": -0.0029004856696626113, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.230496328628261, + -0.07420237214409763, + 0.9965756255222762 + ], + "finger_b": [ + 0.2191301586805773, + -0.05050865592012358, + 0.9965756255222762 + ], + "finger_midpoint": [ + 0.22481324365441915, + -0.06235551403211061, + 0.9965756255222762 + ], + "object_minus_finger_midpoint": [ + 0.005683084973841845, + 0.011846858111987026, + 0.0 + ], + "finger_gap": 0.026278927066793245, + "fingertip_max_gap": 0.093072926758927, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013139463533396626, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965756255222762, + "object_top_z": 1.0422944806428136, + "finger_top_clearance": 0.045718855120537416, + "fingertip_min_top_clearance": 0.013715656536161242, + "object_projection_between_fingers": 0.8129261726719644, + "object_to_finger_line_xy": 0.010248013726335974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049036463379463505, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.442041895875288, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1582555385317287, + 0.23157509227261022, + 0.7611063888054763 + ], + "gripper_position": [ + 0.16173509718755935, + 0.1947049444912795, + 1.0182900798787053 + ], + "target_minus_gripper": [ + -0.0034795586558306613, + 0.036870147781330714, + -0.257183691073229 + ], + "held_position": [ + 0.16620638590084566, + 0.19895976924220507, + 1.0152318420230497 + ], + "held_minus_target": [ + 0.00795084736911697, + -0.03261532303040515, + 0.2541254532175734 + ], + "held_minus_gripper": [ + 0.004471288713286309, + 0.004254824750925562, + -0.003058237855655621 + ], + "xy_dist": 0.037033972590805486, + "held_xy_dist": 0.03357045233929193, + "held_gripper_dist": 0.006888307136039696, + "max_held_gripper_dist": 0.006892759285003796, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0152318420230497, + "required_height": 0.7911063888054763, + "gripper_z": 1.0182900798787053, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17269784227882, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.265962750198612, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0280895309029034, + "max_source_tilt_deg": 89.97217205206873, + "source_upright_tilt_deg": 1.8784670025440369, + "max_source_upright_tilt_deg": 89.7199039869794, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0280895309029034, + "source_upright_return_tilt_deg": 1.8784670025440369, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1583, + 0.2316, + 0.7611 + ], + "controller_target_position": [ + 0.1583, + 0.2316, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + 0.0009, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.1602, + 0.207, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.0637, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00199161161685548, + 0.0008860893666403501, + 0.0008940186801527929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.8784949462512561, + "source_return_step_error_deg": 2.0281021543399618, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0247554703677495, + "source_return_best_wrist_position": -1.6095575094223022, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095575094223022 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1583, + 0.2316, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1583, + 0.2316, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + 0.0009, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1602, + 0.207, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.0637, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00199161161685548, + 0.0008860893666403501, + 0.0008940186801527929 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.8784949462512561, + "pour_controller_source_return_step_error_deg": 2.0281021543399618, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0247554703677495, + "pour_controller_source_return_best_wrist_position": -1.6095575094223022, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095575094223022, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037033972590805486, + "valid_pour_held_xy_dist": 0.03357045233929193, + "valid_pour_held_gripper_dist": 0.006888307136039696, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0152318420230497, + "valid_pour_source_tilt_deg": 2.0280895309029034, + "valid_pour_source_upright_tilt_deg": 1.8784670025440369, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16620638590084566, + 0.17519321960827622, + 1.0152318420230497 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15565373248891667, + 0.19895976924220507, + 1.0152318420230497 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16093005919488118, + 0.18707649442524066, + 1.0152318420230497 + ], + "valid_pour_held_grasp_object_position": [ + 0.16620638590084566, + 0.19895976924220507, + 1.0152318420230497 + ], + "valid_pour_held_grasp_finger_gap": 0.026003987685243587, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023846334754318167, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008770962421913869, + -0.9994626142063145, + 0.031584062786048195 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005393375589459908, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033369614515179204, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16620638590084566, + 0.17519321960827622, + 1.0152318420230497 + ], + "held_grasp_finger_b": [ + 0.15565373248891667, + 0.19895976924220507, + 1.0152318420230497 + ], + "held_grasp_midpoint": [ + 0.16093005919488118, + 0.18707649442524066, + 1.0152318420230497 + ], + "held_grasp_object_position": [ + 0.16620638590084566, + 0.19895976924220507, + 1.0152318420230497 + ], + "held_grasp_finger_gap": 0.026003987685243587, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023846334754318167, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008770962421913869, + -0.9994626142063145, + 0.031584062786048195 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005393375589459908, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033369614515179204, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21236556833318382, + -0.061039765085301755, + 0.7565863656839709 + ], + "target_position": [ + 0.20966204502293595, + -0.05322622548786329, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008268037211442168, + "xy_threshold": 0.08, + "gripper_dist": 0.21671082712691228, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863656839709, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559720925156715, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554044102054421, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18583501659790502, + "release_required_pad_clearance": 0.05277022051027211, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5895011289608783, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16514315355809595, + 0.22705485883385274, + 1.1605552908032384 + ], + "current_z": 1.1605552908032384, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.2994488423931174, + "gripper_z": 1.1543711580196536, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1623093116781028, + 0.22317316900129497, + 1.1543711580196536 + ], + "object_minus_gripper": [ + 0.0028338418799931375, + 0.0038816898325577665, + 0.0061841327835847615 + ], + "object_to_gripper_xy": 0.004806056154164804, + "object_to_gripper_z": 0.0061841327835847615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16514315355809595, + 0.20391515204279317, + 1.1605552908032384 + ], + "finger_b": [ + 0.1563497814336718, + 0.22705485883385274, + 1.1605552908032384 + ], + "finger_midpoint": [ + 0.16074646749588387, + 0.21548500543832294, + 1.1605552908032384 + ], + "object_minus_finger_midpoint": [ + 0.00439668606221208, + 0.011569853395529794, + 0.0 + ], + "finger_gap": 0.024754179923697894, + "fingertip_max_gap": 0.09135435178742443, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01237708996184896, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1605552908032384, + "object_top_z": 1.2107533312718495, + "finger_top_clearance": 0.050198040468611094, + "fingertip_min_top_clearance": 0.01505941214058336, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01237708996184896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817717589371222, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7962413697947317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3064334486765287, + -0.3874692586494755, + 0.8515395808847953 + ], + "target_position": [ + 0.3008076491248426, + -0.38778734020894234, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005634784510007875, + "xy_threshold": 0.08, + "gripper_dist": 0.18375420468911619, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395808847953, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550391765522013, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546373467523104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15174048352231476, + "release_required_pad_clearance": 0.05273186733761552, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5158607728808298, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008687198162078857, + "max_z_decrease": 0.008687198162078857, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508122468528306, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008687198162078857, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021052722850755556, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008687198162078857, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00868768337861228, + "max_button_displacement": 0.12, + "button_start": [ + 0.1565075814723968, + -0.44404879212379456, + 0.7768088579177856 + ], + "button_final": [ + 0.1565075814723968, + -0.44404879212379456, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15789542623956226, + -0.4457750076977992, + 0.803182133640822 + ], + "closest_button": [ + 0.15642310678958887, + -0.44401767849922186, + 0.7681758999824524 + ], + "closest_ee_minus_button": [ + 0.0014723194499733916, + -0.001757329198577351, + 0.035006233658369634 + ], + "button_min_z_position": [ + 0.15642249584197995, + -0.44401428103446966, + 0.7681216597557068 + ], + "min_active_finger_to_button": 0.1443513036916977, + "closest_active_finger": [ + 0.016817361116409302, + -0.4316421449184418, + 0.8105243444442749 + ], + "closest_active_finger_button": [ + 0.15650245547294614, + -0.44404882192611694, + 0.776297926902771 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13968509435653684, + 0.012406677007675171, + 0.034226417541503906 + ], + "min_contact_pad_to_button": 0.021052722850755556, + "closest_contact_pad": [ + 0.15642249584197995, + -0.44677807892083915, + 0.7889921786920923 + ], + "closest_contact_pad_button": [ + 0.15642249584197995, + -0.44401428103446966, + 0.7681216597557068 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00276379788636949, + 0.020870518936385474 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "42f33a862fa13fe67970864884968cb45240c7bdb05fb10c60ee9589bc117509", + "visual_seed": 8549539157313535725, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..63ee6d4690e6495314593012073ae2a62f6255eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_37_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2404603906006093, + -0.05215299554807304, + 0.995783557518775 + ], + "current_z": 0.995783557518775, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13919710971485422, + "gripper_z": 0.9985572888916436, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23596644813157577, + -0.056646408404861834, + 0.9985572888916436 + ], + "object_minus_gripper": [ + 0.004493942469033535, + 0.004493412856788795, + -0.0027737313728686264 + ], + "object_to_gripper_xy": 0.006355019906856159, + "object_to_gripper_z": -0.0027737313728686264, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2404603906006093, + -0.07617093972174048, + 0.995783557518775 + ], + "finger_b": [ + 0.2293727823946387, + -0.05215299554807304, + 0.995783557518775 + ], + "finger_midpoint": [ + 0.234916586497624, + -0.06416196763490675, + 0.995783557518775 + ], + "object_minus_finger_midpoint": [ + 0.0055438041029853, + 0.012008972086833714, + 0.0 + ], + "finger_gap": 0.026453670786083967, + "fingertip_max_gap": 0.0925498012812338, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013226835393041978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.995783557518775, + "object_top_z": 1.0416067032735181, + "finger_top_clearance": 0.04582314575474311, + "fingertip_min_top_clearance": 0.013746943726422949, + "object_projection_between_fingers": 0.8243274710066899, + "object_to_finger_line_xy": 0.010066714637221079, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0487749006406169, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6784187754027369, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1622120948519191, + 0.2380358185337492, + 0.7611065676194109 + ], + "gripper_position": [ + 0.1652073375281477, + 0.20050135682410547, + 1.0174057587478105 + ], + "target_minus_gripper": [ + -0.00299524267622861, + 0.037534461709643724, + -0.2562991911283996 + ], + "held_position": [ + 0.16978650456320524, + 0.20480200856246622, + 1.0144713051336407 + ], + "held_minus_target": [ + 0.007574409711286145, + -0.033233809971282974, + 0.25336473751422983 + ], + "held_minus_gripper": [ + 0.004579167035057535, + 0.00430065173836075, + -0.002934453614169774 + ], + "xy_dist": 0.03765378194182109, + "held_xy_dist": 0.03408603537640852, + "held_gripper_dist": 0.006933642197527718, + "max_held_gripper_dist": 0.006938915165687901, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194109, + "held_z": 1.0144713051336407, + "required_height": 0.7911065676194109, + "gripper_z": 1.0174057587478105, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16875682312772, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4455168575944386, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0620758140272444, + "max_source_tilt_deg": 89.82875501161371, + "source_upright_tilt_deg": 1.8997701239496654, + "max_source_upright_tilt_deg": 89.63122311710372, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0620758140272444, + "source_upright_return_tilt_deg": 1.8997701239496654, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 6.664001874625056e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1622, + 0.238, + 0.7611 + ], + "controller_target_position": [ + 0.1622, + 0.238, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0001, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.161, + 0.2126, + 1.0261 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0669, + 0.0637, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011852900590418117, + -6.951840733058308e-05, + -0.00040489864160165256 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.8813431048959453, + "source_return_step_error_deg": 2.0462630315062067, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0514423523541, + "source_return_best_wrist_position": -1.6094790697097778, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094790697097778 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1622, + 0.238, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1622, + 0.238, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0001, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.161, + 0.2126, + 1.0261 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0669, + 0.0637, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011852900590418117, + -6.951840733058308e-05, + -0.00040489864160165256 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.8813431048959453, + "pour_controller_source_return_step_error_deg": 2.0462630315062067, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0514423523541, + "pour_controller_source_return_best_wrist_position": -1.6094790697097778, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094790697097778, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03765378194182109, + "valid_pour_held_xy_dist": 0.03408603537640852, + "valid_pour_held_gripper_dist": 0.006933642197527718, + "valid_pour_required_height": 0.7911065676194109, + "valid_pour_held_z": 1.0144713051336407, + "valid_pour_source_tilt_deg": 2.0620758140272444, + "valid_pour_source_upright_tilt_deg": 1.8997701239496654, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16978650456320524, + 0.18097687558010175, + 1.0144713051336407 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15913873003201787, + 0.20480200856246622, + 1.0144713051336407 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16446261729761155, + 0.192889442071284, + 1.0144713051336407 + ], + "valid_pour_held_grasp_object_position": [ + 0.16978650456320524, + 0.20480200856246622, + 1.0144713051336407 + ], + "valid_pour_held_grasp_finger_gap": 0.026096207848926127, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023926749521014076, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010773316867119371, + -0.9994503573048592, + 0.031351537870888506 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005464632030793914, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03335156205425786, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16978650456320524, + 0.18097687558010175, + 1.0144713051336407 + ], + "held_grasp_finger_b": [ + 0.15913873003201787, + 0.20480200856246622, + 1.0144713051336407 + ], + "held_grasp_midpoint": [ + 0.16446261729761155, + 0.192889442071284, + 1.0144713051336407 + ], + "held_grasp_object_position": [ + 0.16978650456320524, + 0.20480200856246622, + 1.0144713051336407 + ], + "held_grasp_finger_gap": 0.026096207848926127, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023926749521014076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010773316867119371, + -0.9994503573048592, + 0.031351537870888506 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005464632030793914, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03335156205425786, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21099658874850757, + -0.04618164825470988, + 0.7565922007474155 + ], + "target_position": [ + 0.2182425939593449, + -0.05335659685343787, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010197278014738558, + "xy_threshold": 0.08, + "gripper_dist": 0.2123315833829456, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565922007474155, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530781999081278, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08839357358998358, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18601087915852887, + "release_required_pad_clearance": 0.05419678679499179, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4070553597553994, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16892656320674732, + 0.23297868060429888, + 1.1613198857948435 + ], + "current_z": 1.1613198857948435, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3002133777800775, + "gripper_z": 1.1548651002330277, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16619946809038183, + 0.22916611098677847, + 1.1548651002330277 + ], + "object_minus_gripper": [ + 0.0027270951163654855, + 0.0038125696175204116, + 0.006454785561815779 + ], + "object_to_gripper_xy": 0.004687508385287883, + "object_to_gripper_z": 0.006454785561815779, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16892656320674732, + 0.20978586665178267, + 1.1613198857948435 + ], + "finger_b": [ + 0.1604050704083647, + 0.23297868060429888, + 1.1613198857948435 + ], + "finger_midpoint": [ + 0.16466581680755601, + 0.22138227362804078, + 1.1613198857948435 + ], + "object_minus_finger_midpoint": [ + 0.004260746399191301, + 0.011596406976258106, + 0.0 + ], + "finger_gap": 0.024708752670843527, + "fingertip_max_gap": 0.09223421105543553, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012354376335421764, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613198857948435, + "object_top_z": 1.2115350256734134, + "finger_top_clearance": 0.05021513987856996, + "fingertip_min_top_clearance": 0.015064541963570988, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012354376335421764, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048617105527717766, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.513642996485027, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3123552693748115, + -0.38195954719978203, + 0.8515395825376497 + ], + "target_position": [ + 0.3069291043261412, + -0.38224197706709373, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00543351026182533, + "xy_threshold": 0.08, + "gripper_dist": 0.18298545609883418, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395825376497, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551145744597687, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0850552230281617, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15102553538846966, + "release_required_pad_clearance": 0.05252761151408085, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.125114510337585, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00849682092666626, + "max_z_decrease": 0.00849682092666626, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035006964227310824, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00849682092666626, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020895363629358146, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00849682092666626, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008497035404386859, + "max_button_displacement": 0.12, + "button_start": [ + 0.16262902319431302, + -0.4385034441947937, + 0.7768088579177856 + ], + "button_final": [ + 0.16262902319431302, + -0.4385034441947937, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1613360167825136, + -0.4386592196364712, + 0.8032967472608505 + ], + "closest_button": [ + 0.1625717431306839, + -0.4384843707084656, + 0.7683120369911194 + ], + "closest_ee_minus_button": [ + -0.0012357263481702907, + -0.00017484892800562202, + 0.034984710269731156 + ], + "button_min_z_position": [ + 0.1625717431306839, + -0.4384843707084656, + 0.7683120369911194 + ], + "min_active_finger_to_button": 0.1469714148930255, + "closest_active_finger": [ + 0.03414435684680939, + -0.5011910200119019, + 0.8105688095092773 + ], + "closest_active_finger_button": [ + 0.16262432932853696, + -0.4385078549385071, + 0.7764467597007751 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12847997248172757, + -0.06268316507339478, + 0.0341220498085022 + ], + "min_contact_pad_to_button": 0.020895363629358146, + "closest_contact_pad": [ + 0.1625717431306839, + -0.4398768082723897, + 0.7891609539614005 + ], + "closest_contact_pad_button": [ + 0.1625717431306839, + -0.4384843707084656, + 0.7683120369911194 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013924375639240982, + 0.02084891697028113 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "225aabf29a3995771d7ebd265a3404b606c2701898b48fe0fc52f810c29e7292", + "visual_seed": 402500467333299667, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e9f3cb4f2b234952f3cae38de561af8bfdbca71 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_38_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23294275020939748, + -0.04976425486753976, + 0.9983948942537326 + ], + "current_z": 0.9983948942537326, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14180838684516706, + "gripper_z": 1.0009450782702838, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22871767503524365, + -0.054066785002463966, + 1.0009450782702838 + ], + "object_minus_gripper": [ + 0.004225075174153825, + 0.004302530134924203, + -0.0025501840165511602 + ], + "object_to_gripper_xy": 0.006030176265183452, + "object_to_gripper_z": -0.0025501840165511602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23294275020939748, + -0.07367700375347004, + 0.9983948942537326 + ], + "finger_b": [ + 0.22226082865824573, + -0.04976425486753976, + 0.9983948942537326 + ], + "finger_midpoint": [ + 0.2276017894338216, + -0.0617206293105049, + 0.9983948942537326 + ], + "object_minus_finger_midpoint": [ + 0.005340960775575887, + 0.011956374442965136, + 0.0 + ], + "finger_gap": 0.02619013186882647, + "fingertip_max_gap": 0.09322526955961782, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095065934413237, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983948942537326, + "object_top_z": 1.0443450860048815, + "finger_top_clearance": 0.045950191751148894, + "fingertip_min_top_clearance": 0.013785057525344651, + "object_projection_between_fingers": 0.8336497729198191, + "object_to_finger_line_xy": 0.009753066878442723, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049112634779808914, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.054498953417072, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1594697000469646, + 0.2387442346380658, + 0.7611063292008319 + ], + "gripper_position": [ + 0.1628212140649977, + 0.20189648683750544, + 1.0176451606967392 + ], + "target_minus_gripper": [ + -0.0033515140180331027, + 0.036847747800560354, + -0.2565388314959073 + ], + "held_position": [ + 0.16704001542936253, + 0.20610736716525924, + 1.0149341608019407 + ], + "held_minus_target": [ + 0.007570315382397941, + -0.03263686747280656, + 0.2538278316011088 + ], + "held_minus_gripper": [ + 0.004218801364364838, + 0.0042108803277537965, + -0.002710999894798505 + ], + "xy_dist": 0.03699985356980177, + "held_xy_dist": 0.03350335495777266, + "held_gripper_dist": 0.0065482301819826125, + "max_held_gripper_dist": 0.0065520128654998075, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008319, + "held_z": 1.0149341608019407, + "required_height": 0.7911063292008319, + "gripper_z": 1.0176451606967392, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17365406876263, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.0528022806836046, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8845261209516346, + "max_source_tilt_deg": 89.66241127628392, + "source_upright_tilt_deg": 2.804759898349858, + "max_source_upright_tilt_deg": 89.79276804293696, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8845261209516346, + "source_upright_return_tilt_deg": 2.804759898349858, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2731557704981462e-07, + "max_target_xy_drift": 1.9371509552001953e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1595, + 0.2387, + 0.7611 + ], + "controller_target_position": [ + 0.1595, + 0.2387, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0006, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.16, + 0.2141, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0687, + 0.0654, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005420271118894192, + 0.0006225179243813639, + 0.0002614259030365362 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.804754649833786, + "source_return_step_error_deg": 1.8845051873372962, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8071737231694414, + "source_return_best_wrist_position": -1.6094220876693726, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094220876693726 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1595, + 0.2387, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1595, + 0.2387, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0006, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.16, + 0.2141, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0687, + 0.0654, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005420271118894192, + 0.0006225179243813639, + 0.0002614259030365362 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.804754649833786, + "pour_controller_source_return_step_error_deg": 1.8845051873372962, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8071737231694414, + "pour_controller_source_return_best_wrist_position": -1.6094220876693726, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094220876693726, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03699985356980177, + "valid_pour_held_xy_dist": 0.03350335495777266, + "valid_pour_held_gripper_dist": 0.0065482301819826125, + "valid_pour_required_height": 0.7911063292008319, + "valid_pour_held_z": 1.0149341608019407, + "valid_pour_source_tilt_deg": 1.8845261209516346, + "valid_pour_source_upright_tilt_deg": 2.804759898349858, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2731557704981462e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16704001542936253, + 0.18269794457846575, + 1.0149341608019407 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15630987425685067, + 0.20610736716525924, + 1.0149341608019407 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1616749448431066, + 0.1944026558718625, + 1.0149341608019407 + ], + "valid_pour_held_grasp_object_position": [ + 0.16704001542936253, + 0.20610736716525924, + 1.0149341608019407 + ], + "valid_pour_held_grasp_finger_gap": 0.025751446472559777, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023788642750150992, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.037955016756930374, + -0.998802083881162, + 0.030883878280256627 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005816505099896342, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0337131662787422, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16704001542936253, + 0.18269794457846575, + 1.0149341608019407 + ], + "held_grasp_finger_b": [ + 0.15630987425685067, + 0.20610736716525924, + 1.0149341608019407 + ], + "held_grasp_midpoint": [ + 0.1616749448431066, + 0.1944026558718625, + 1.0149341608019407 + ], + "held_grasp_object_position": [ + 0.16704001542936253, + 0.20610736716525924, + 1.0149341608019407 + ], + "held_grasp_finger_gap": 0.025751446472559777, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023788642750150992, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.037955016756930374, + -0.998802083881162, + 0.030883878280256627 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005816505099896342, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0337131662787422, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20902501476003893, + -0.0499708200125531, + 0.756586203970691 + ], + "target_position": [ + 0.21149787884347, + -0.05047453109891822, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0025236445141204934, + "xy_threshold": 0.08, + "gripper_dist": 0.2130642614727889, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586203970691, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753509083531987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08784797132544382, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18488095845323163, + "release_required_pad_clearance": 0.05392398566272191, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8572357606730696, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16658756496237037, + 0.2336729851838446, + 1.162874075004419 + ], + "current_z": 1.162874075004419, + "required_z": 0.8611062695961871, + "initial_z": 0.7611062695961871, + "lift_margin": 0.301767805408232, + "gripper_z": 1.1564185298529839, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16360358866776367, + 0.2297059044585416, + 1.1564185298529839 + ], + "object_minus_gripper": [ + 0.0029839762946066994, + 0.003967080725302996, + 0.006455545151435205 + ], + "object_to_gripper_xy": 0.0049640551979047605, + "object_to_gripper_z": 0.006455545151435205, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16658756496237037, + 0.21067778158381928, + 1.162874075004419 + ], + "finger_b": [ + 0.15736044126182963, + 0.2336729851838446, + 1.162874075004419 + ], + "finger_midpoint": [ + 0.1619740031121, + 0.22217538338383194, + 1.162874075004419 + ], + "object_minus_finger_midpoint": [ + 0.00461356185027037, + 0.011497601800012663, + 0.0 + ], + "finger_gap": 0.024777392929678826, + "fingertip_max_gap": 0.09118997704892118, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012388696464839413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162874075004419, + "object_top_z": 1.2128861617837345, + "finger_top_clearance": 0.05001208677931546, + "fingertip_min_top_clearance": 0.01500362603379467, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012388696464839413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809498852446059, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6955532273752744, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3090181595308936, + -0.38384427867715454, + 0.8515395603918823 + ], + "target_position": [ + 0.3043109986124572, + -0.38406138497820586, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004712165007511032, + "xy_threshold": 0.08, + "gripper_dist": 0.1803737652246715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395603918823, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578951729616382, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.087306983627275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14770936407792773, + "release_required_pad_clearance": 0.0536534918136375, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.316854804052541, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008588075637817383, + "max_z_decrease": 0.008588075637817383, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004498907437794, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008588075637817383, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02098528137025636, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008588075637817383, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588284330253972, + "max_button_displacement": 0.12, + "button_start": [ + 0.1600109189748764, + -0.4403228461742401, + 0.7768088579177856 + ], + "button_final": [ + 0.1600109189748764, + -0.4403228461742401, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15996650790794992, + -0.44112719990088606, + 0.8032154934346096 + ], + "closest_button": [ + 0.15995576977729797, + -0.44029954075813293, + 0.7682207822799683 + ], + "closest_ee_minus_button": [ + 1.0738130651943845e-05, + -0.0008276591427531232, + 0.03499471115464137 + ], + "button_min_z_position": [ + 0.15995576977729797, + -0.44029954075813293, + 0.7682207822799683 + ], + "min_active_finger_to_button": 0.14576159074266304, + "closest_active_finger": [ + 0.01940838247537613, + -0.4228571653366089, + 0.8105494379997253 + ], + "closest_active_finger_button": [ + 0.1600082814693451, + -0.44032564759254456, + 0.7763009071350098 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14059989899396896, + 0.01746848225593567, + 0.034248530864715576 + ], + "min_contact_pad_to_button": 0.02098528137025636, + "closest_contact_pad": [ + 0.15995576977729797, + -0.4424938589526942, + 0.7890910242970088 + ], + "closest_contact_pad_button": [ + 0.15995576977729797, + -0.44029954075813293, + 0.7682207822799683 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021943181945612844, + 0.020870242017040574 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9623b68f280877bfa722e52247a5bba6609639d564b9c6d9683bc1eb956a6e1f", + "visual_seed": 3055694591883617884, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e0ad6d07950f3125f4423f2963562b8d151bed7c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_39_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23737704167936727, + -0.05844333389001877, + 0.9970577249604016 + ], + "current_z": 0.9970577249604016, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.14047121755183622, + "gripper_z": 0.9999950297357991, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2329374909032423, + -0.0628784547413055, + 0.9999950297357991 + ], + "object_minus_gripper": [ + 0.004439550776124956, + 0.004435120851286736, + -0.0029373047753975534 + ], + "object_to_gripper_xy": 0.006275341270346187, + "object_to_gripper_z": -0.0029373047753975534, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23737704167936727, + -0.08245549013440842, + 0.9970577249604016 + ], + "finger_b": [ + 0.2264302287826693, + -0.05844333389001877, + 0.9970577249604016 + ], + "finger_midpoint": [ + 0.23190363523101828, + -0.0704494120122136, + 0.9970577249604016 + ], + "object_minus_finger_midpoint": [ + 0.005473406448348983, + 0.012006078122194827, + 0.0 + ], + "finger_gap": 0.026389701781192865, + "fingertip_max_gap": 0.09318633686699848, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013194850890596433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9970577249604016, + "object_top_z": 1.0428832683792053, + "finger_top_clearance": 0.04582554341880374, + "fingertip_min_top_clearance": 0.013747663025641137, + "object_projection_between_fingers": 0.8279294981265873, + "object_to_finger_line_xy": 0.009960574160066522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04909316843349924, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.186623697826963, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1557538272823772, + 0.238939186529965, + 0.761106567619411 + ], + "gripper_position": [ + 0.15854580331619605, + 0.20229483762261485, + 1.0174025748350315 + ], + "target_minus_gripper": [ + -0.002791976033818866, + 0.03664434890735013, + -0.2562960072156205 + ], + "held_position": [ + 0.16304875578447744, + 0.20655309450651843, + 1.0143019033973588 + ], + "held_minus_target": [ + 0.007294928502100256, + -0.032386092023446555, + 0.25319533577794784 + ], + "held_minus_gripper": [ + 0.00450295246828139, + 0.004258256883903577, + -0.003100671437672675 + ], + "xy_dist": 0.036750556961997624, + "held_xy_dist": 0.0331975140394865, + "held_gripper_dist": 0.00692989869949863, + "max_held_gripper_dist": 0.006933575813029997, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106567619411, + "held_z": 1.0143019033973588, + "required_height": 0.791106567619411, + "gripper_z": 1.0174025748350315, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16969255904402, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1280700348347645, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.007132205712758, + "max_source_tilt_deg": 89.90961154754173, + "source_upright_tilt_deg": 2.3542599520114886, + "max_source_upright_tilt_deg": 89.98034397381963, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.007132205712758, + "source_upright_return_tilt_deg": 2.3542599520114886, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 5.3726900748371916e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1558, + 0.2389, + 0.7611 + ], + "controller_target_position": [ + 0.1558, + 0.2389, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0012, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.1548, + 0.2148, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0648, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009644791442333057, + 0.001190232392787861, + -0.000973893177809897 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3542547164329055, + "source_return_step_error_deg": 2.007135888725097, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3583464438089354, + "source_return_best_wrist_position": -1.6092969179153442, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092969179153442 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1558, + 0.2389, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1558, + 0.2389, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0012, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1548, + 0.2148, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0648, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009644791442333057, + 0.001190232392787861, + -0.000973893177809897 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3542547164329055, + "pour_controller_source_return_step_error_deg": 2.007135888725097, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3583464438089354, + "pour_controller_source_return_best_wrist_position": -1.6092969179153442, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092969179153442, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036750556961997624, + "valid_pour_held_xy_dist": 0.0331975140394865, + "valid_pour_held_gripper_dist": 0.00692989869949863, + "valid_pour_required_height": 0.791106567619411, + "valid_pour_held_z": 1.0143019033973588, + "valid_pour_source_tilt_deg": 2.007132205712758, + "valid_pour_source_upright_tilt_deg": 2.3542599520114886, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16304875578447744, + 0.1828099077044319, + 1.0143019033973588 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1524201791305904, + 0.20655309450651843, + 1.0143019033973588 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15773446745753392, + 0.19468150110547516, + 1.0143019033973588 + ], + "valid_pour_held_grasp_object_position": [ + 0.16304875578447744, + 0.20655309450651843, + 1.0143019033973588 + ], + "valid_pour_held_grasp_finger_gap": 0.026013564946126267, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023989494393024245, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.025059613212490835, + -0.9991559503290329, + 0.032548467056491726 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005623259113423359, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033471825789244375, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16304875578447744, + 0.1828099077044319, + 1.0143019033973588 + ], + "held_grasp_finger_b": [ + 0.1524201791305904, + 0.20655309450651843, + 1.0143019033973588 + ], + "held_grasp_midpoint": [ + 0.15773446745753392, + 0.19468150110547516, + 1.0143019033973588 + ], + "held_grasp_object_position": [ + 0.16304875578447744, + 0.20655309450651843, + 1.0143019033973588 + ], + "held_grasp_finger_gap": 0.026013564946126267, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023989494393024245, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.025059613212490835, + -0.9991559503290329, + 0.032548467056491726 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005623259113423359, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033471825789244375, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.222464038410382, + -0.06680033886224235, + 0.7565894095127297 + ], + "target_position": [ + 0.2156710795072538, + -0.058682556979924735, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010585021178461228, + "xy_threshold": 0.08, + "gripper_dist": 0.21989526633301565, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565894095127297, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581687651972474, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658001975002609, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18822882072924488, + "release_required_pad_clearance": 0.05329000987501305, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5890033361507336, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16268658148313075, + 0.2344981580787336, + 1.160404907549451 + ], + "current_z": 1.160404907549451, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.29929833993003996, + "gripper_z": 1.1540896323132648, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1599753082949341, + 0.2305866447963013, + 1.1540896323132648 + ], + "object_minus_gripper": [ + 0.0027112731881966667, + 0.003911513282432277, + 0.006315275236186135 + ], + "object_to_gripper_xy": 0.004759300206929402, + "object_to_gripper_z": 0.006315275236186135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16268658148313075, + 0.21166602268524234, + 1.160404907549451 + ], + "finger_b": [ + 0.1535558031906916, + 0.2344981580787336, + 1.160404907549451 + ], + "finger_midpoint": [ + 0.1581211923369112, + 0.22308209038198795, + 1.160404907549451 + ], + "object_minus_finger_midpoint": [ + 0.004565389146219567, + 0.011416067696745635, + 0.0 + ], + "finger_gap": 0.024590191517196318, + "fingertip_max_gap": 0.09160593776008508, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012295095758598166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.160404907549451, + "object_top_z": 1.2106908227050028, + "finger_top_clearance": 0.05028591515555192, + "fingertip_min_top_clearance": 0.015085774546665542, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012295095758598166, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830296888004254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0211624319183779, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3058804549500067, + -0.383722521342006, + 0.8515395123708516 + ], + "target_position": [ + 0.3010673396014912, + -0.3840753027455048, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00482602673809111, + "xy_threshold": 0.08, + "gripper_dist": 0.18290853571263835, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395123708516, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574688721162295, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08733328531914052, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1502488735374001, + "release_required_pad_clearance": 0.05366664265957026, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.343058469878475, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008534550666809082, + "max_z_decrease": 0.008534550666809082, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035055740341111134, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008534550666809082, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020963598527009727, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008534550666809082, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008534788511882338, + "max_button_displacement": 0.12, + "button_start": [ + 0.15676726400852203, + -0.44033676385879517, + 0.7768088579177856 + ], + "button_final": [ + 0.15676726400852203, + -0.44033676385879517, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15828883585598347, + -0.4409978110690271, + 0.8032876957831533 + ], + "closest_button": [ + 0.15670953691005707, + -0.44030979275703425, + 0.7682743072509766 + ], + "closest_ee_minus_button": [ + 0.0015792989459263995, + -0.0006880183119928329, + 0.035013388532176726 + ], + "button_min_z_position": [ + 0.15670953691005707, + -0.44030979275703425, + 0.7682743072509766 + ], + "min_active_finger_to_button": 0.14427375868643114, + "closest_active_finger": [ + 0.017504677176475525, + -0.42447805404663086, + 0.8106001019477844 + ], + "closest_active_finger_button": [ + 0.15676462650299072, + -0.4403388202190399, + 0.7763945460319519 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1392599493265152, + 0.015860766172409058, + 0.03420555591583252 + ], + "min_contact_pad_to_button": 0.020963598527009727, + "closest_contact_pad": [ + 0.15670953691005707, + -0.44220881952449104, + 0.7891517151489443 + ], + "closest_contact_pad_button": [ + 0.15670953691005707, + -0.44030979275703425, + 0.7682743072509766 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018990267674567907, + 0.02087740789796777 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ace799b7d7e7eedaa7c3614173622539afd95eaa8083e015188c78139d2245a1", + "visual_seed": 6349386023484114330, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a16acf01f61332905b1d60a0dca2e6ea8df7b16b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_3_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2349893853941356, + -0.051278971949423005, + 0.9950168587664149 + ], + "current_z": 0.9950168587664149, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1384304109624941, + "gripper_z": 0.9980695528125128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23056222533319276, + -0.05581600413082759, + 0.9980695528125128 + ], + "object_minus_gripper": [ + 0.004427160060942847, + 0.004537032181404582, + -0.00305269404609787 + ], + "object_to_gripper_xy": 0.006339117227209819, + "object_to_gripper_z": -0.00305269404609787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2349893853941356, + -0.07508816548185585, + 0.9950168587664149 + ], + "finger_b": [ + 0.2236527210536739, + -0.051278971949423005, + 0.9950168587664149 + ], + "finger_midpoint": [ + 0.22932105322390475, + -0.06318356871563943, + 0.9950168587664149 + ], + "object_minus_finger_midpoint": [ + 0.005668332170230855, + 0.011904596766216427, + 0.0 + ], + "finger_gap": 0.026370393532011194, + "fingertip_max_gap": 0.0934802062225063, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013185196766005604, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950168587664149, + "object_top_z": 1.040830554249907, + "finger_top_clearance": 0.04581369548349212, + "fingertip_min_top_clearance": 0.013744108645047637, + "object_projection_between_fingers": 0.8151849413956225, + "object_to_finger_line_xy": 0.010235601337030826, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04924010311125315, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5925270266987686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15788545329231835, + 0.23029594679340792, + 0.7611063292008319 + ], + "gripper_position": [ + 0.16196409649124519, + 0.19260980929175892, + 1.0184117643170967 + ], + "target_minus_gripper": [ + -0.00407864319892684, + 0.03768613750164901, + -0.2573054351162648 + ], + "held_position": [ + 0.16653459517677155, + 0.196886421413288, + 1.015196019755997 + ], + "held_minus_target": [ + 0.008649141884453204, + -0.03340952538011993, + 0.25408969055516517 + ], + "held_minus_gripper": [ + 0.004570498685526364, + 0.0042766121215290775, + -0.0032157445610996316 + ], + "xy_dist": 0.03790620384762035, + "held_xy_dist": 0.034510926406897284, + "held_gripper_dist": 0.007037036489506753, + "max_held_gripper_dist": 0.007041253065051013, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008319, + "held_z": 1.015196019755997, + "required_height": 0.7911063292008319, + "gripper_z": 1.0184117643170967, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17098346479715, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7040881642736958, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0734134761213516, + "max_source_tilt_deg": 89.7331039772718, + "source_upright_tilt_deg": 2.004221676380722, + "max_source_upright_tilt_deg": 89.83635735860396, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0734134761213516, + "source_upright_return_tilt_deg": 2.004221676380722, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4136482746161726e-07, + "max_target_xy_drift": 2.425733297482089e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1579, + 0.2303, + 0.7611 + ], + "controller_target_position": [ + 0.1579, + 0.2303, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0006, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1598, + 0.2043, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0641, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019037786448243494, + -0.0006275770146623655, + 0.0016888311450456105 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.004229968140929, + "source_return_step_error_deg": 2.0734215835012484, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.072403619390852, + "source_return_best_wrist_position": -1.6095280647277832, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095280647277832 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1579, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1579, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0006, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1598, + 0.2043, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0641, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019037786448243494, + -0.0006275770146623655, + 0.0016888311450456105 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.004229968140929, + "pour_controller_source_return_step_error_deg": 2.0734215835012484, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.072403619390852, + "pour_controller_source_return_best_wrist_position": -1.6095280647277832, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095280647277832, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03790620384762035, + "valid_pour_held_xy_dist": 0.034510926406897284, + "valid_pour_held_gripper_dist": 0.007037036489506753, + "valid_pour_required_height": 0.7911063292008319, + "valid_pour_held_z": 1.015196019755997, + "valid_pour_source_tilt_deg": 2.0734134761213516, + "valid_pour_source_upright_tilt_deg": 2.004221676380722, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4136482746161726e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16653459517677155, + 0.17306463823224935, + 1.015196019755997 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15592887114994525, + 0.196886421413288, + 1.015196019755997 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1612317331633584, + 0.18497552982276866, + 1.015196019755997 + ], + "valid_pour_held_grasp_object_position": [ + 0.16653459517677155, + 0.196886421413288, + 1.015196019755997 + ], + "valid_pour_held_grasp_finger_gap": 0.026076018408829525, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02396205388349558, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014599984758127389, + -0.9993882612996314, + 0.03177961015434849 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005489177266903838, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033374041433203556, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16653459517677155, + 0.17306463823224935, + 1.015196019755997 + ], + "held_grasp_finger_b": [ + 0.15592887114994525, + 0.196886421413288, + 1.015196019755997 + ], + "held_grasp_midpoint": [ + 0.1612317331633584, + 0.18497552982276866, + 1.015196019755997 + ], + "held_grasp_object_position": [ + 0.16653459517677155, + 0.196886421413288, + 1.015196019755997 + ], + "held_grasp_finger_gap": 0.026076018408829525, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02396205388349558, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014599984758127389, + -0.9993882612996314, + 0.03177961015434849 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005489177266903838, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033374041433203556, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21203419751541847, + -0.05477224577673376, + 0.7565865385225428 + ], + "target_position": [ + 0.21361396619658454, + -0.05166112333199242, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0034892337199113658, + "xy_threshold": 0.08, + "gripper_dist": 0.21343559910305138, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865385225428, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549486705907588, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496602876237051, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18393919376529286, + "release_required_pad_clearance": 0.05248301438118526, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956208941259842, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16511994475556405, + 0.22598654021804446, + 1.163144676859122 + ], + "current_z": 1.163144676859122, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3020382880536454, + "gripper_z": 1.1570308711217776, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16221666535980012, + 0.22191967660515088, + 1.1570308711217776 + ], + "object_minus_gripper": [ + 0.0029032793957639302, + 0.004066863612893573, + 0.0061138057373444354 + ], + "object_to_gripper_xy": 0.004996840091072071, + "object_to_gripper_z": 0.0061138057373444354, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16511994475556405, + 0.2030213531816599, + 1.163144676859122 + ], + "finger_b": [ + 0.15574848091506338, + 0.22598654021804446, + 1.163144676859122 + ], + "finger_midpoint": [ + 0.16043421283531373, + 0.21450394669985218, + 1.163144676859122 + ], + "object_minus_finger_midpoint": [ + 0.004685731920250319, + 0.01148259351819228, + 0.0 + ], + "finger_gap": 0.02480371242636749, + "fingertip_max_gap": 0.09132659754916383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012401856213183739, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163144676859122, + "object_top_z": 1.213502936693765, + "finger_top_clearance": 0.05035825983464304, + "fingertip_min_top_clearance": 0.015107477950392911, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012401856213183739, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816329877458192, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9219610935703253, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31003263528348357, + -0.3803271787772843, + 0.8515395554157964 + ], + "target_position": [ + 0.3055209353548146, + -0.38009102987558374, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004517875889190165, + "xy_threshold": 0.08, + "gripper_dist": 0.18165830462820928, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395554157964, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538607090886706, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0874453220426754, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1498941894766913, + "release_required_pad_clearance": 0.0537226610213377, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4546520367886484, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008362948894500732, + "max_z_decrease": 0.008362948894500732, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503034586468443, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008362948894500732, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020851853256139363, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008362948894500732, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008363169086428498, + "max_button_displacement": 0.12, + "button_start": [ + 0.1612208634614944, + -0.4363524913787842, + 0.7768088579177856 + ], + "button_final": [ + 0.1612208634614944, + -0.4363524913787842, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16025245012377773, + -0.4349842247521602, + 0.8034379586445584 + ], + "closest_button": [ + 0.16116042435169214, + -0.43634700775146484, + 0.7684459090232849 + ], + "closest_ee_minus_button": [ + -0.0009079742279144154, + 0.0013627829993046459, + 0.03499204962127345 + ], + "button_min_z_position": [ + 0.16116042435169214, + -0.43634700775146484, + 0.7684459090232849 + ], + "min_active_finger_to_button": 0.14602836078041267, + "closest_active_finger": [ + 0.033331528306007385, + -0.49804335832595825, + 0.810655415058136 + ], + "closest_active_finger_button": [ + 0.1612166911363601, + -0.4363541007041931, + 0.7765364646911621 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12788516283035273, + -0.06168925762176514, + 0.03411895036697388 + ], + "min_contact_pad_to_button": 0.020851853256139363, + "closest_contact_pad": [ + 0.16116042435169214, + -0.43634700775146484, + 0.7892977622794243 + ], + "closest_contact_pad_button": [ + 0.16116042435169214, + -0.43634700775146484, + 0.7684459090232849 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020851853256139363 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a560373249942c98838699e169012ae7c35d75881445f4932cbe747fc58c6542", + "visual_seed": 3049189478280276794, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..333aac12df4577276abbf23a4dad6d25610b40d8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_40_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23869242772003024, + -0.057310480325810924, + 0.9968985649390208 + ], + "current_z": 0.9968985649390208, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14031211713510006, + "gripper_z": 0.9997889119617489, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23430405788145314, + -0.06172385867189904, + 0.9997889119617489 + ], + "object_minus_gripper": [ + 0.0043883698385771, + 0.004413378346088119, + -0.002890347022728057 + ], + "object_to_gripper_xy": 0.006223800950050757, + "object_to_gripper_z": -0.002890347022728057, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23869242772003024, + -0.08128936891369481, + 0.9968985649390208 + ], + "finger_b": [ + 0.2277799588545979, + -0.057310480325810924, + 0.9968985649390208 + ], + "finger_midpoint": [ + 0.23323619328731407, + -0.06929992461975287, + 0.9968985649390208 + ], + "object_minus_finger_midpoint": [ + 0.005456234432716173, + 0.011989444293941949, + 0.0 + ], + "finger_gap": 0.02634519073093187, + "fingertip_max_gap": 0.0933463046040923, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317259536546594, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968985649390208, + "object_top_z": 1.042722398123191, + "finger_top_clearance": 0.04582383318417016, + "fingertip_min_top_clearance": 0.013747149955251047, + "object_projection_between_fingers": 0.8284292139089744, + "object_to_finger_line_xy": 0.009932320392568975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04917315230204615, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.3612064683908653, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16449194271225542, + 0.23257463236317105, + 0.7611065080147662 + ], + "gripper_position": [ + 0.16714625198492536, + 0.19520258527499063, + 1.0166475332569023 + ], + "target_minus_gripper": [ + -0.0026543092726699358, + 0.03737204708818043, + -0.25554102524213607 + ], + "held_position": [ + 0.17160853254452924, + 0.19943060893830433, + 1.0135951893505217 + ], + "held_minus_target": [ + 0.007116589832273812, + -0.03314402342486672, + 0.2524886813357555 + ], + "held_minus_gripper": [ + 0.004462280559603876, + 0.004228023663313707, + -0.003052343906380539 + ], + "xy_dist": 0.037466188240547725, + "held_xy_dist": 0.03389944158284819, + "held_gripper_dist": 0.006863303520388542, + "max_held_gripper_dist": 0.006867469576115793, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147662, + "held_z": 1.0135951893505217, + "required_height": 0.7911065080147662, + "gripper_z": 1.0166475332569023, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17741067280613, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2697259784518793, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0655081766517975, + "max_source_tilt_deg": 89.97092660362092, + "source_upright_tilt_deg": 2.382280322336729, + "max_source_upright_tilt_deg": 89.85985396832551, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0655081766517975, + "source_upright_return_tilt_deg": 2.382280322336729, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 4.470348358154297e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1645, + 0.2326, + 0.7611 + ], + "controller_target_position": [ + 0.1645, + 0.2326, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + 0.0005, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.163, + 0.2077, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0648, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014431349381651408, + 0.00048076017630493354, + -0.001918849905568635 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.382281469888724, + "source_return_step_error_deg": 2.065512025572983, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.383811753232627, + "source_return_best_wrist_position": -1.6098371744155884, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098371744155884 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1645, + 0.2326, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1645, + 0.2326, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + 0.0005, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.163, + 0.2077, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0648, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014431349381651408, + 0.00048076017630493354, + -0.001918849905568635 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.382281469888724, + "pour_controller_source_return_step_error_deg": 2.065512025572983, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.383811753232627, + "pour_controller_source_return_best_wrist_position": -1.6098371744155884, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098371744155884, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037466188240547725, + "valid_pour_held_xy_dist": 0.03389944158284819, + "valid_pour_held_gripper_dist": 0.006863303520388542, + "valid_pour_required_height": 0.7911065080147662, + "valid_pour_held_z": 1.0135951893505217, + "valid_pour_source_tilt_deg": 2.0655081766517975, + "valid_pour_source_upright_tilt_deg": 2.382280322336729, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17160853254452924, + 0.17568579158570463, + 1.0135951893505217 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1610747320496857, + 0.19943060893830433, + 1.0135951893505217 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16634163229710747, + 0.18755820026200448, + 1.0135951893505217 + ], + "valid_pour_held_grasp_object_position": [ + 0.17160853254452924, + 0.19943060893830433, + 1.0135951893505217 + ], + "valid_pour_held_grasp_finger_gap": 0.025976475972954566, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023995130896684324, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02571106204558593, + -0.9991357417616912, + 0.03266053923013934 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005583737425004643, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03347349471556736, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17160853254452924, + 0.17568579158570463, + 1.0135951893505217 + ], + "held_grasp_finger_b": [ + 0.1610747320496857, + 0.19943060893830433, + 1.0135951893505217 + ], + "held_grasp_midpoint": [ + 0.16634163229710747, + 0.18755820026200448, + 1.0135951893505217 + ], + "held_grasp_object_position": [ + 0.17160853254452924, + 0.19943060893830433, + 1.0135951893505217 + ], + "held_grasp_finger_gap": 0.025976475972954566, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023995130896684324, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02571106204558593, + -0.9991357417616912, + 0.03266053923013934 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005583737425004643, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03347349471556736, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22097918764124097, + -0.06241605629930326, + 0.7565863285471621 + ], + "target_position": [ + 0.21685072976504746, + -0.05740388915713827, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00649353400672566, + "xy_threshold": 0.08, + "gripper_dist": 0.21687630938497568, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863285471621, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522752646451285, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09033473970806323, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1871817273515223, + "release_required_pad_clearance": 0.05516736985403162, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.429093535729184, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 221, + "max_placed_release_frames": 221 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17147327780557842, + 0.22902823067279102, + 1.162559034020775 + ], + "current_z": 1.162559034020775, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3014525260060088, + "gripper_z": 1.1561500324936556, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1685568373514793, + 0.22509484428025764, + 1.1561500324936556 + ], + "object_minus_gripper": [ + 0.002916440454099112, + 0.003933386392533378, + 0.006409001527119429 + ], + "object_to_gripper_xy": 0.004896647162627972, + "object_to_gripper_z": 0.006409001527119429, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17147327780557842, + 0.20585926486300218, + 1.162559034020775 + ], + "finger_b": [ + 0.16257464011553244, + 0.22902823067279102, + 1.162559034020775 + ], + "finger_midpoint": [ + 0.16702395896055544, + 0.2174437477678966, + 1.162559034020775 + ], + "object_minus_finger_midpoint": [ + 0.004449318845022976, + 0.011584482904894416, + 0.0 + ], + "finger_gap": 0.02481907994736853, + "fingertip_max_gap": 0.09174433066596938, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01240953997368426, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162559034020775, + "object_top_z": 1.2128010514746785, + "finger_top_clearance": 0.050242017453903554, + "fingertip_min_top_clearance": 0.015072605236171032, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01240953997368426, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04837216533298469, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1737043075945393, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3035247263827372, + -0.38431376585005306, + 0.8515395807999778 + ], + "target_position": [ + 0.2984474269911566, + -0.3845750278327613, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005084016811080899, + "xy_threshold": 0.08, + "gripper_dist": 0.181547418053108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395807999778, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757394839024814, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540342730037769, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14901189930526862, + "release_required_pad_clearance": 0.052701713650188844, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.45799460807744186, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008630871772766113, + "max_z_decrease": 0.008630871772766113, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500564753336092, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008630871772766113, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02088383217476874, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008630871772766113, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008630966696076485, + "max_button_displacement": 0.12, + "button_start": [ + 0.1541473567485809, + -0.44083648920059204, + 0.7768088579177856 + ], + "button_final": [ + 0.1541473567485809, + -0.44083648920059204, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1527415421741814, + -0.44110078798617647, + 0.8036680310059071 + ], + "closest_button": [ + 0.15409094095230103, + -0.44082948565483093, + 0.7686894536018372 + ], + "closest_ee_minus_button": [ + -0.001349398778119626, + -0.0002713023313455354, + 0.034978577404069955 + ], + "button_min_z_position": [ + 0.1541170924901962, + -0.4408096075057983, + 0.7681779861450195 + ], + "min_active_finger_to_button": 0.14714449751536565, + "closest_active_finger": [ + 0.025126464664936066, + -0.5028411746025085, + 0.8107365369796753 + ], + "closest_active_finger_button": [ + 0.15414147078990934, + -0.44083917140960693, + 0.7766427993774414 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12901500612497327, + -0.06200200319290161, + 0.03409373760223389 + ], + "min_contact_pad_to_button": 0.02088383217476874, + "closest_contact_pad": [ + 0.1541170924901962, + -0.44235678668042316, + 0.7890044280616195 + ], + "closest_contact_pad_button": [ + 0.1541170924901962, + -0.4408096075057983, + 0.7681779861450195 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015471791746248797, + 0.02082644191659999 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c32ea9bdb426ad2afa63c3ca1416b1d768e4eac5983e415762dee7e9078ce25", + "visual_seed": 1016982168964215465, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..53dd9e67716d9bea142a88d318e53a2bedb47f83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_41_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23489323061838274, + -0.047279305158299305, + 0.9975944110096664 + ], + "current_z": 0.9975944110096664, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1410079632057456, + "gripper_z": 0.9998453477228374, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23075648029735757, + -0.05165040474543248, + 0.9998453477228374 + ], + "object_minus_gripper": [ + 0.004136750321025173, + 0.004371099587133172, + -0.0022509367131710034 + ], + "object_to_gripper_xy": 0.006018240176258975, + "object_to_gripper_z": -0.0022509367131710034, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23489323061838274, + -0.07089240633959384, + 0.9975944110096664 + ], + "finger_b": [ + 0.22381325513684425, + -0.047279305158299305, + 0.9975944110096664 + ], + "finger_midpoint": [ + 0.2293532428776135, + -0.05908585574894658, + 0.9975944110096664 + ], + "object_minus_finger_midpoint": [ + 0.005539987740769248, + 0.011806550590647273, + 0.0 + ], + "finger_gap": 0.026083412431458192, + "fingertip_max_gap": 0.09311065029445209, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0130417062157291, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9975944110096664, + "object_top_z": 1.0434360905740434, + "finger_top_clearance": 0.045841679564377014, + "fingertip_min_top_clearance": 0.01375250386931312, + "object_projection_between_fingers": 0.8195533674751229, + "object_to_finger_line_xy": 0.010030611708469786, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905532514722605, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.212224542098759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15529926736015887, + 0.22977594097122628, + 0.761106448410121 + ], + "gripper_position": [ + 0.15931912351772876, + 0.19175484256797817, + 1.017314545291718 + ], + "target_minus_gripper": [ + -0.00401985615756989, + 0.038021098403248105, + -0.25620809688159707 + ], + "held_position": [ + 0.16353654191479078, + 0.1959607967687675, + 1.0149044986657338 + ], + "held_minus_target": [ + 0.008237274554631913, + -0.03381514420245879, + 0.25379805025561286 + ], + "held_minus_gripper": [ + 0.004217418397062023, + 0.004205954200789314, + -0.002410046625984208 + ], + "xy_dist": 0.03823301148637167, + "held_xy_dist": 0.03480397490979254, + "held_gripper_dist": 0.0064253399454373104, + "max_held_gripper_dist": 0.006430508337540833, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106448410121, + "held_z": 1.0149044986657338, + "required_height": 0.791106448410121, + "gripper_z": 1.017314545291718, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18650848478059, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2346191341229635, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8669391328975236, + "max_source_tilt_deg": 89.86064115112349, + "source_upright_tilt_deg": 2.13342982264787, + "max_source_upright_tilt_deg": 89.84785573093112, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8669391328975236, + "source_upright_return_tilt_deg": 2.13342982264787, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1553, + 0.2298, + 0.7611 + ], + "controller_target_position": [ + 0.1553, + 0.2298, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + -0.0014, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1554, + 0.203, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.0644, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.8845501246066e-05, + -0.001415575644835604, + 0.0006188665130846603 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.133433385763608, + "source_return_step_error_deg": 1.8669443125557281, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1328341465225904, + "source_return_best_wrist_position": -1.6096253395080566, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096253395080566 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1553, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1553, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + -0.0014, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1554, + 0.203, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.0644, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.8845501246066e-05, + -0.001415575644835604, + 0.0006188665130846603 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.133433385763608, + "pour_controller_source_return_step_error_deg": 1.8669443125557281, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1328341465225904, + "pour_controller_source_return_best_wrist_position": -1.6096253395080566, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096253395080566, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03823301148637167, + "valid_pour_held_xy_dist": 0.03480397490979254, + "valid_pour_held_gripper_dist": 0.0064253399454373104, + "valid_pour_required_height": 0.791106448410121, + "valid_pour_held_z": 1.0149044986657338, + "valid_pour_source_tilt_deg": 1.8669391328975236, + "valid_pour_source_upright_tilt_deg": 2.13342982264787, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16353654191479078, + 0.1724929415510978, + 1.0149044986657338 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15289389551789118, + 0.1959607967687675, + 1.0149044986657338 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15821521871634098, + 0.18422686915993264, + 1.0149044986657338 + ], + "valid_pour_held_grasp_object_position": [ + 0.16353654191479078, + 0.1959607967687675, + 1.0149044986657338 + ], + "valid_pour_held_grasp_finger_gap": 0.025768316802751143, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023668758696147724, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020405655846464484, + -0.9993068518174394, + 0.031135592497877222 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00557153379683794, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358301579740766, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16353654191479078, + 0.1724929415510978, + 1.0149044986657338 + ], + "held_grasp_finger_b": [ + 0.15289389551789118, + 0.1959607967687675, + 1.0149044986657338 + ], + "held_grasp_midpoint": [ + 0.15821521871634098, + 0.18422686915993264, + 1.0149044986657338 + ], + "held_grasp_object_position": [ + 0.16353654191479078, + 0.1959607967687675, + 1.0149044986657338 + ], + "held_grasp_finger_gap": 0.025768316802751143, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023668758696147724, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020405655846464484, + -0.9993068518174394, + 0.031135592497877222 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00557153379683794, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358301579740766, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21785442072113276, + -0.046954802564227946, + 0.756586987436189 + ], + "target_position": [ + 0.21376128376618983, + -0.04876721926680579, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004476452215281943, + "xy_threshold": 0.08, + "gripper_dist": 0.21946884555745658, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586987436189, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075959361830678, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603600074956104, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1897942422619733, + "release_required_pad_clearance": 0.05301800037478052, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0682502784070527, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16221527361308652, + 0.22592564835605924, + 1.1626234413579146 + ], + "current_z": 1.1626234413579146, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3015169333431488, + "gripper_z": 1.1564499839279043, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15931057291019693, + 0.22209342372296104, + 1.1564499839279043 + ], + "object_minus_gripper": [ + 0.00290470070288959, + 0.003832224633098208, + 0.0061734574300102985 + ], + "object_to_gripper_xy": 0.004808662164458216, + "object_to_gripper_z": 0.0061734574300102985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16221527361308652, + 0.2027977888731413, + 1.1626234413579146 + ], + "finger_b": [ + 0.15343545496664077, + 0.22592564835605924, + 1.1626234413579146 + ], + "finger_midpoint": [ + 0.15782536428986366, + 0.21436171861460027, + 1.1626234413579146 + ], + "object_minus_finger_midpoint": [ + 0.0043899093232228625, + 0.011563929741458978, + 0.0 + ], + "finger_gap": 0.024738292174806137, + "fingertip_max_gap": 0.09108778527759304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012369146087403063, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626234413579146, + "object_top_z": 1.212502298325505, + "finger_top_clearance": 0.04987885696759031, + "fingertip_min_top_clearance": 0.014963657090277093, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012369146087403063, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804389263879652, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.743778408991444, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3098231349510725, + -0.37985257519963245, + 0.8515395170846611 + ], + "target_position": [ + 0.3039455480618226, + -0.3804214117035174, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0059050489082508205, + "xy_threshold": 0.08, + "gripper_dist": 0.18372398575625512, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395170846611, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518091158030088, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551353408795169, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15255417766496562, + "release_required_pad_clearance": 0.05275676704397585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5637105132025128, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008525073528289795, + "max_z_decrease": 0.008525073528289795, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509071174881727, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008525073528289795, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020970656213003223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008525073528289795, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008525564774783688, + "max_button_displacement": 0.12, + "button_start": [ + 0.1596454679965973, + -0.4366828799247741, + 0.7768088579177856 + ], + "button_final": [ + 0.1596454679965973, + -0.4366828799247741, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16175676609176504, + -0.4368697226336562, + 0.8033048078992968 + ], + "closest_button": [ + 0.15955595672130585, + -0.43666380643844604, + 0.7682837843894958 + ], + "closest_ee_minus_button": [ + 0.002200809370459189, + -0.00020591619521015403, + 0.035021023509800964 + ], + "button_min_z_position": [ + 0.15955595672130585, + -0.43666380643844604, + 0.7682837843894958 + ], + "min_active_finger_to_button": 0.14378814709592247, + "closest_active_finger": [ + 0.021124400198459625, + -0.4190245568752289, + 0.8106434941291809 + ], + "closest_active_finger_button": [ + 0.15964692831039426, + -0.436686635017395, + 0.7763711810112 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13852252811193463, + 0.017662078142166138, + 0.03427231311798096 + ], + "min_contact_pad_to_button": 0.020970656213003223, + "closest_contact_pad": [ + 0.15955595672130585, + -0.4381999308192171, + 0.7891981035008313 + ], + "closest_contact_pad_button": [ + 0.15955595672130585, + -0.43666380643844604, + 0.7682837843894958 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015361243807710534, + 0.020914319111335455 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f92192c32783bc2e0f2c3e03e6d0aa15b3d064dd67dbbd540a9fe824e645000", + "visual_seed": 4666193040979751844, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..279e445bcc148044ba8505ac38c7fc447968838b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_42_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2387054731748581, + -0.05180802649091202, + 0.9950477706758035 + ], + "current_z": 0.9950477706758035, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1384613824765275, + "gripper_z": 0.9979865595857085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23406299165923436, + -0.056393127773943424, + 0.9979865595857085 + ], + "object_minus_gripper": [ + 0.004642481515623742, + 0.004585101283031405, + -0.0029387889099049547 + ], + "object_to_gripper_xy": 0.006525012520950772, + "object_to_gripper_z": -0.0029387889099049547, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2387054731748581, + -0.07588912394975368, + 0.9950477706758035 + ], + "finger_b": [ + 0.22744255475383976, + -0.05180802649091202, + 0.9950477706758035 + ], + "finger_midpoint": [ + 0.23307401396434893, + -0.06384857522033285, + 0.9950477706758035 + ], + "object_minus_finger_midpoint": [ + 0.005631459210509171, + 0.012040548729420834, + 0.0 + ], + "finger_gap": 0.026584818716341562, + "fingertip_max_gap": 0.09296591102647722, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013292409358170785, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950477706758035, + "object_top_z": 1.0409112504079279, + "finger_top_clearance": 0.045863479732124346, + "fingertip_min_top_clearance": 0.013759043919637304, + "object_projection_between_fingers": 0.820512391692794, + "object_to_finger_line_xy": 0.01020219242649213, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898295551323861, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.966692699270668, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16446625311035723, + 0.23455077965721557, + 0.7611062695961867 + ], + "gripper_position": [ + 0.1682662700840104, + 0.1971592367282393, + 1.0163114827864892 + ], + "target_minus_gripper": [ + -0.0038000169736531753, + 0.037391542928976285, + -0.25520521319030254 + ], + "held_position": [ + 0.17293746906367297, + 0.20160472942024577, + 1.0132057655440363 + ], + "held_minus_target": [ + 0.008471215953315736, + -0.03294605023696981, + 0.25209949594784964 + ], + "held_minus_gripper": [ + 0.004671198979662561, + 0.004445492692006475, + -0.003105717242452899 + ], + "xy_dist": 0.03758414042664177, + "held_xy_dist": 0.03401769724635472, + "held_gripper_dist": 0.00715737275628095, + "max_held_gripper_dist": 0.007160993358049261, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961867, + "held_z": 1.0132057655440363, + "required_height": 0.7911062695961867, + "gripper_z": 1.0163114827864892, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17986954090733, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6532054758352002, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8665143620497053, + "max_source_tilt_deg": 89.9590001535144, + "source_upright_tilt_deg": 2.440140315929502, + "max_source_upright_tilt_deg": 89.94701176870977, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8665143620497053, + "source_upright_return_tilt_deg": 2.440140315929502, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.4787111069715503e-07, + "max_target_xy_drift": 4.1214575427589806e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1645, + 0.2346, + 0.7611 + ], + "controller_target_position": [ + 0.1645, + 0.2346, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + 0.0006, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.1651, + 0.2098, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0649, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005892848948945099, + 0.0005588330870858931, + -0.001992456124917359 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.440146030608011, + "source_return_step_error_deg": 1.8665222835777944, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4440355975219368, + "source_return_best_wrist_position": -1.6094609498977661, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094609498977661 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1645, + 0.2346, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1645, + 0.2346, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + 0.0006, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1651, + 0.2098, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0649, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005892848948945099, + 0.0005588330870858931, + -0.001992456124917359 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.440146030608011, + "pour_controller_source_return_step_error_deg": 1.8665222835777944, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4440355975219368, + "pour_controller_source_return_best_wrist_position": -1.6094609498977661, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094609498977661, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03758414042664177, + "valid_pour_held_xy_dist": 0.03401769724635472, + "valid_pour_held_gripper_dist": 0.00715737275628095, + "valid_pour_required_height": 0.7911062695961867, + "valid_pour_held_z": 1.0132057655440363, + "valid_pour_source_tilt_deg": 1.8665143620497053, + "valid_pour_source_upright_tilt_deg": 2.440140315929502, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.4787111069715503e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17293746906367297, + 0.17791959047436634, + 1.0132057655440363 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16180186351792378, + 0.20160472942024577, + 1.0132057655440363 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16736966629079836, + 0.18976215994730605, + 1.0132057655440363 + ], + "valid_pour_held_grasp_object_position": [ + 0.17293746906367297, + 0.20160472942024577, + 1.0132057655440363 + ], + "valid_pour_held_grasp_finger_gap": 0.026172266194507007, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023987009998318317, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029037254456885826, + -0.9990932559283857, + 0.031136856167943587 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005920667303977101, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033530067378415046, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17293746906367297, + 0.17791959047436634, + 1.0132057655440363 + ], + "held_grasp_finger_b": [ + 0.16180186351792378, + 0.20160472942024577, + 1.0132057655440363 + ], + "held_grasp_midpoint": [ + 0.16736966629079836, + 0.18976215994730605, + 1.0132057655440363 + ], + "held_grasp_object_position": [ + 0.17293746906367297, + 0.20160472942024577, + 1.0132057655440363 + ], + "held_grasp_finger_gap": 0.026172266194507007, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023987009998318317, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029037254456885826, + -0.9990932559283857, + 0.031136856167943587 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005920667303977101, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033530067378415046, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22623018583938, + -0.05549400654117071, + 0.7565864463456906 + ], + "target_position": [ + 0.216459282069998, + -0.05390753787652148, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00989886070689134, + "xy_threshold": 0.08, + "gripper_dist": 0.2236014035956144, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864463456906, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581641554449452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0860048565820389, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19298267045333528, + "release_required_pad_clearance": 0.05300242829101945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0377754080458288, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1715804582102464, + 0.2306211545623827, + 1.1619340051871694 + ], + "current_z": 1.1619340051871694, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.300827675986338, + "gripper_z": 1.1557206619494824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1683786811487535, + 0.22655908997329027, + 1.1557206619494824 + ], + "object_minus_gripper": [ + 0.003201777061492883, + 0.004062064589092418, + 0.0062133432376869635 + ], + "object_to_gripper_xy": 0.005172208916648722, + "object_to_gripper_z": 0.0062133432376869635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1715804582102464, + 0.20711567231874686, + 1.1619340051871694 + ], + "finger_b": [ + 0.16267777302965197, + 0.2306211545623827, + 1.1619340051871694 + ], + "finger_midpoint": [ + 0.1671291156199492, + 0.2188684134405648, + 1.1619340051871694 + ], + "object_minus_finger_midpoint": [ + 0.004451342590297197, + 0.0117527411218179, + 0.0 + ], + "finger_gap": 0.02513494577138878, + "fingertip_max_gap": 0.09154829353641367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012567472885694372, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619340051871694, + "object_top_z": 1.212152222029939, + "finger_top_clearance": 0.050218216842769614, + "fingertip_min_top_clearance": 0.015065465052830884, + "object_projection_between_fingers": 0.8745455338113117, + "object_to_finger_line_xy": 0.008325536499519543, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048274146768206835, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9951400069566767, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30358119966644836, + -0.37954657090297295, + 0.8515395754753711 + ], + "target_position": [ + 0.29784895593712885, + -0.3797338667126952, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005735302772536291, + "xy_threshold": 0.08, + "gripper_dist": 0.18184244164502458, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395754753711, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07514002026394347, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08625087237871835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1507570562311188, + "release_required_pad_clearance": 0.05312543618935918, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2771555210533856, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008427262306213379, + "max_z_decrease": 0.008427262306213379, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505267604633421, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008427262306213379, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020866415230785917, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008427262306213379, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00842739913535038, + "max_button_displacement": 0.12, + "button_start": [ + 0.15354888141155243, + -0.43599531054496765, + 0.7768088579177856 + ], + "button_final": [ + 0.15354888141155243, + -0.43599531054496765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1536345928733052, + -0.4340887155819847, + 0.8033829399490253 + ], + "closest_button": [ + 0.1535032093524933, + -0.4359804689884186, + 0.7683815956115723 + ], + "closest_ee_minus_button": [ + 0.0001313835208119063, + 0.0018917534064338826, + 0.035001344337453055 + ], + "button_min_z_position": [ + 0.1535032093524933, + -0.4359804689884186, + 0.7683815956115723 + ], + "min_active_finger_to_button": 0.1448856865567876, + "closest_active_finger": [ + 0.026351749897003174, + -0.4964151680469513, + 0.8103412389755249 + ], + "closest_active_finger_button": [ + 0.15354296565055847, + -0.4359967112541199, + 0.776225745677948 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271912157535553, + -0.06041845679283142, + 0.034115493297576904 + ], + "min_contact_pad_to_button": 0.020866415230785917, + "closest_contact_pad": [ + 0.1535032093524933, + -0.4359804689884186, + 0.7892480108423582 + ], + "closest_contact_pad_button": [ + 0.1535032093524933, + -0.4359804689884186, + 0.7683815956115723 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020866415230785917 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22db91980e55fbf5e5f578fc8e839fd99f3e0adad6cddac4d1bf4195680eb7c3", + "visual_seed": 6066090700757098370, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4826b40a120ed3673b6d48007eca97eb23947189 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_43_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23754911227974837, + -0.04822203006485214, + 0.9953683833069696 + ], + "current_z": 0.9953683833069696, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1387818162937593, + "gripper_z": 0.9984463808409895, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23313463713596197, + -0.05253861151404103, + 0.9984463808409895 + ], + "object_minus_gripper": [ + 0.0044144751437864005, + 0.004316581449188894, + -0.0030779975340198273 + ], + "object_to_gripper_xy": 0.006174177370515821, + "object_to_gripper_z": -0.0030779975340198273, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23754911227974837, + -0.07247446438431522, + 0.9953683833069696 + ], + "finger_b": [ + 0.22706604116241902, + -0.04822203006485214, + 0.9953683833069696 + ], + "finger_midpoint": [ + 0.2323075767210837, + -0.06034824722458368, + 0.9953683833069696 + ], + "object_minus_finger_midpoint": [ + 0.005241535558664662, + 0.012126217159731542, + 0.0 + ], + "finger_gap": 0.026421115617453698, + "fingertip_max_gap": 0.09322738082293283, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013210557808726844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9953683833069696, + "object_top_z": 1.0411943205993786, + "finger_top_clearance": 0.045825937292408914, + "fingertip_min_top_clearance": 0.013747781187722673, + "object_projection_between_fingers": 0.8425746160828337, + "object_to_finger_line_xy": 0.009622606305516503, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04911369041146642, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.186546766129794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16037347037453265, + 0.2394645120666928, + 0.7611063888054767 + ], + "gripper_position": [ + 0.16398895232476798, + 0.20151512094709823, + 1.0162288291608323 + ], + "target_minus_gripper": [ + -0.0036154819502353386, + 0.03794939111959458, + -0.2551224403553557 + ], + "held_position": [ + 0.1683975686442639, + 0.2057301868147164, + 1.0130011251035977 + ], + "held_minus_target": [ + 0.008024098269731245, + -0.03373432525197642, + 0.2518947362981211 + ], + "held_minus_gripper": [ + 0.004408616319495906, + 0.004215065867618162, + -0.003227704057234604 + ], + "xy_dist": 0.03812122763081538, + "held_xy_dist": 0.03467550797390628, + "held_gripper_dist": 0.006900779057611829, + "max_held_gripper_dist": 0.0069049473416604775, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0130011251035977, + "required_height": 0.7911063888054767, + "gripper_z": 1.0162288291608323, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18157025801067, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.0850391805014863, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.034445826805276, + "max_source_tilt_deg": 89.9379682944304, + "source_upright_tilt_deg": 3.0653454969874447, + "max_source_upright_tilt_deg": 89.8305577139153, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.034445826805276, + "source_upright_return_tilt_deg": 3.0653454969874447, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.043081283569336e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1604, + 0.2395, + 0.7611 + ], + "controller_target_position": [ + 0.1604, + 0.2395, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0001, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.1606, + 0.2141, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.069, + 0.0658, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002605646109800769, + -8.281223657589714e-05, + -0.0018763389301507223 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0653421755387584, + "source_return_step_error_deg": 2.0344585234198784, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.064465534238519, + "source_return_best_wrist_position": -1.6100661754608154, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6100661754608154 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1604, + 0.2395, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1604, + 0.2395, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0001, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1606, + 0.2141, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.069, + 0.0658, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0002605646109800769, + -8.281223657589714e-05, + -0.0018763389301507223 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0653421755387584, + "pour_controller_source_return_step_error_deg": 2.0344585234198784, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.064465534238519, + "pour_controller_source_return_best_wrist_position": -1.6100661754608154, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6100661754608154, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03812122763081538, + "valid_pour_held_xy_dist": 0.03467550797390628, + "valid_pour_held_gripper_dist": 0.006900779057611829, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0130011251035977, + "valid_pour_source_tilt_deg": 2.034445826805276, + "valid_pour_source_upright_tilt_deg": 3.0653454969874447, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1683975686442639, + 0.1820582479206068, + 1.0130011251035977 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15784069649141136, + 0.2057301868147164, + 1.0130011251035977 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1631191325678376, + 0.1938942173676616, + 1.0130011251035977 + ], + "valid_pour_held_grasp_object_position": [ + 0.1683975686442639, + 0.2057301868147164, + 1.0130011251035977 + ], + "valid_pour_held_grasp_finger_gap": 0.02591926389113186, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024087636155714767, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.042585241676037895, + -0.9985692050609545, + 0.03234254002590053 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005790112347307648, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03360597383992565, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1683975686442639, + 0.1820582479206068, + 1.0130011251035977 + ], + "held_grasp_finger_b": [ + 0.15784069649141136, + 0.2057301868147164, + 1.0130011251035977 + ], + "held_grasp_midpoint": [ + 0.1631191325678376, + 0.1938942173676616, + 1.0130011251035977 + ], + "held_grasp_object_position": [ + 0.1683975686442639, + 0.2057301868147164, + 1.0130011251035977 + ], + "held_grasp_finger_gap": 0.02591926389113186, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024087636155714767, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.042585241676037895, + -0.9985692050609545, + 0.03234254002590053 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005790112347307648, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03360597383992565, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2186508580883507, + -0.055212026513120294, + 0.7565863246306836 + ], + "target_position": [ + 0.21494012762098164, + -0.049567755207931344, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006754799713391977, + "xy_threshold": 0.08, + "gripper_dist": 0.21711417968755536, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863246306836, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578089251875028, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08921887449805381, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18613528755838862, + "release_required_pad_clearance": 0.05460943724902691, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.257448752541646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1675845990311192, + 0.23558209866407942, + 1.1624257613561992 + ], + "current_z": 1.1624257613561992, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.3013194321553675, + "gripper_z": 1.156132204899131, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1646011213713843, + 0.23152466516058806, + 1.156132204899131 + ], + "object_minus_gripper": [ + 0.00298347765973489, + 0.004057433503491359, + 0.006293556457068306 + ], + "object_to_gripper_xy": 0.005036259086007325, + "object_to_gripper_z": 0.006293556457068306, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1675845990311192, + 0.21269175153366177, + 1.1624257613561992 + ], + "finger_b": [ + 0.1580744679319529, + 0.23558209866407942, + 1.1624257613561992 + ], + "finger_midpoint": [ + 0.16282953348153606, + 0.2241369250988706, + 1.1624257613561992 + ], + "object_minus_finger_midpoint": [ + 0.004755065549583132, + 0.011445173565208827, + 0.0 + ], + "finger_gap": 0.024787306938720666, + "fingertip_max_gap": 0.09164181673093, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012393653469360328, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624257613561992, + "object_top_z": 1.2126726985881353, + "finger_top_clearance": 0.05024693723193607, + "fingertip_min_top_clearance": 0.015074081169580788, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012393653469360328, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048320908365465, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9552106071690983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3068729707721302, + -0.37894635711183666, + 0.8515395741726203 + ], + "target_position": [ + 0.3016055714109788, + -0.37911873792410894, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00527021927193715, + "xy_threshold": 0.08, + "gripper_dist": 0.18154154253978608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741726203, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574896797689774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592119215214998, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14903891005489875, + "release_required_pad_clearance": 0.05296059607607499, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9569447692418753, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008361518383026123, + "max_z_decrease": 0.008361518383026123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508716844914592, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008361518383026123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020950595707459906, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008361518383026123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008361912297736319, + "max_button_displacement": 0.12, + "button_start": [ + 0.1573054939508438, + -0.4353801906108856, + 0.7768088579177856 + ], + "button_final": [ + 0.1573054939508438, + -0.4353801906108856, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15933960953483645, + -0.4357981732775228, + 0.8034680962423918 + ], + "closest_button": [ + 0.15722620487213132, + -0.4353628456592559, + 0.7684473395347595 + ], + "closest_ee_minus_button": [ + 0.002113404662705126, + -0.0004353276182668675, + 0.03502075670763227 + ], + "button_min_z_position": [ + 0.15722620487213132, + -0.4353628456592559, + 0.7684473395347595 + ], + "min_active_finger_to_button": 0.14380375263862077, + "closest_active_finger": [ + 0.01851823925971985, + -0.41961365938186646, + 0.8107612133026123 + ], + "closest_active_finger_button": [ + 0.15730454027652738, + -0.4353805780410766, + 0.7765663862228394 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13878630101680753, + 0.01576691865921015, + 0.03419482707977295 + ], + "min_contact_pad_to_button": 0.020950595707459906, + "closest_contact_pad": [ + 0.15722620487213132, + -0.43697915719982916, + 0.7893354940128662 + ], + "closest_contact_pad_button": [ + 0.15722620487213132, + -0.4353628456592559, + 0.7684473395347595 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016163115405732342, + 0.020888154478106657 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5de9435713d75724dadbb4efa6e575346c9aa138fa9e833b8324714346c86066", + "visual_seed": 6643108511678782156, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f5a5b6882c5c245de2a94330f9b6d48a16835972 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_44_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2334234884272595, + -0.051287474536693745, + 0.9952880071623573 + ], + "current_z": 0.9952880071623573, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13870149975379176, + "gripper_z": 0.9982806965827095, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22890259531843277, + -0.05574029264040632, + 0.9982806965827095 + ], + "object_minus_gripper": [ + 0.0045208931088267235, + 0.0044528181037125775, + -0.002992689420352135 + ], + "object_to_gripper_xy": 0.006345554630305173, + "object_to_gripper_z": -0.002992689420352135, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2334234884272595, + -0.07545661126552397, + 0.9952880071623573 + ], + "finger_b": [ + 0.2225866409373401, + -0.051287474536693745, + 0.9952880071623573 + ], + "finger_midpoint": [ + 0.2280050646822998, + -0.06337204290110886, + 0.9952880071623573 + ], + "object_minus_finger_midpoint": [ + 0.005418423744959683, + 0.012084568364415113, + 0.0 + ], + "finger_gap": 0.026487439169097914, + "fingertip_max_gap": 0.09280727997343213, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013243719584548952, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952880071623573, + "object_top_z": 1.041193115911828, + "finger_top_clearance": 0.045905108749470624, + "fingertip_min_top_clearance": 0.01377153262484117, + "object_projection_between_fingers": 0.832611360981461, + "object_to_finger_line_xy": 0.009888356780028522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04890363998671607, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7892385121143928, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15703806895870775, + 0.23774737675651975, + 0.7611066272240556 + ], + "gripper_position": [ + 0.1602805059438916, + 0.20103963738131475, + 1.017217004546933 + ], + "target_minus_gripper": [ + -0.0032424369851838386, + 0.036707739375204995, + -0.25611037732287745 + ], + "held_position": [ + 0.16480937638606225, + 0.20537116140582284, + 1.0140576752830455 + ], + "held_minus_target": [ + 0.00777130742735449, + -0.0323762153506969, + 0.2529510480589898 + ], + "held_minus_gripper": [ + 0.004528870442170652, + 0.004331524024508093, + -0.0031593292638876225 + ], + "xy_dist": 0.03685066522657173, + "held_xy_dist": 0.03329583366676913, + "held_gripper_dist": 0.0070181286148455905, + "max_held_gripper_dist": 0.007039735150767437, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240556, + "held_z": 1.0140576752830455, + "required_height": 0.7911066272240557, + "gripper_z": 1.017217004546933, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1736130876276, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.063726723321982, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9108374543593367, + "max_source_tilt_deg": 89.83438624150529, + "source_upright_tilt_deg": 2.4718509475387216, + "max_source_upright_tilt_deg": 89.71259324143901, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9108374543593367, + "source_upright_return_tilt_deg": 2.4718509475387216, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.157, + 0.2377, + 0.7611 + ], + "controller_target_position": [ + 0.157, + 0.2377, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0013, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.1573, + 0.2137, + 1.0253 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0649, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00025976699235462104, + 0.0013478354152478551, + -0.001153944629995321 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4715696443018285, + "source_return_step_error_deg": 1.9106086036197576, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.471579089565796, + "source_return_best_wrist_position": -1.6093887090682983, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093887090682983 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.157, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.157, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0013, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1573, + 0.2137, + 1.0253 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0649, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00025976699235462104, + 0.0013478354152478551, + -0.001153944629995321 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4715696443018285, + "pour_controller_source_return_step_error_deg": 1.9106086036197576, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.471579089565796, + "pour_controller_source_return_best_wrist_position": -1.6093887090682983, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093887090682983, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03685066522657173, + "valid_pour_held_xy_dist": 0.03329583366676913, + "valid_pour_held_gripper_dist": 0.0070181286148455905, + "valid_pour_required_height": 0.7911066272240557, + "valid_pour_held_z": 1.0140576752830455, + "valid_pour_source_tilt_deg": 1.9108374543593367, + "valid_pour_source_upright_tilt_deg": 2.4718509475387216, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16480937638606225, + 0.18167712766585456, + 1.0140576752830455 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15398803464765284, + 0.20537116140582284, + 1.0140576752830455 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15939870551685753, + 0.19352414453583872, + 1.0140576752830455 + ], + "valid_pour_held_grasp_object_position": [ + 0.16480937638606225, + 0.20537116140582284, + 1.0140576752830455 + ], + "valid_pour_held_grasp_finger_gap": 0.026048199014331048, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023998674125794917, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030189117458172193, + -0.9990695391417443, + 0.030800538082954687 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005777231413403445, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352757465970918, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16480937638606225, + 0.18167712766585456, + 1.0140576752830455 + ], + "held_grasp_finger_b": [ + 0.15398803464765284, + 0.20537116140582284, + 1.0140576752830455 + ], + "held_grasp_midpoint": [ + 0.15939870551685753, + 0.19352414453583872, + 1.0140576752830455 + ], + "held_grasp_object_position": [ + 0.16480937638606225, + 0.20537116140582284, + 1.0140576752830455 + ], + "held_grasp_finger_gap": 0.026048199014331048, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023998674125794917, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030189117458172193, + -0.9990695391417443, + 0.030800538082954687 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005777231413403445, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352757465970918, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21634082048939493, + -0.05990052158009952, + 0.7565934139780575 + ], + "target_position": [ + 0.21162295632397352, + -0.054572415582777936, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0071166674646256835, + "xy_threshold": 0.08, + "gripper_dist": 0.21754741294909785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565934139780575, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539416019502995, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633614788016004, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18750096835231167, + "release_required_pad_clearance": 0.053168073940080024, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.355636005289111, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16378755412229287, + 0.2350305134332107, + 1.162279655978743 + ], + "current_z": 1.162279655978743, + "required_z": 0.8611067464333451, + "initial_z": 0.7611067464333451, + "lift_margin": 0.3011729095453979, + "gripper_z": 1.1560971715445565, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16093718937506993, + 0.23121138680300912, + 1.1560971715445565 + ], + "object_minus_gripper": [ + 0.0028503647472229443, + 0.0038191266302015914, + 0.006182484434186453 + ], + "object_to_gripper_xy": 0.004765533276531209, + "object_to_gripper_z": 0.006182484434186453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16378755412229287, + 0.2116856923465328, + 1.162279655978743 + ], + "finger_b": [ + 0.1553481730265143, + 0.2350305134332107, + 1.162279655978743 + ], + "finger_midpoint": [ + 0.15956786357440358, + 0.22335810288987176, + 1.162279655978743 + ], + "object_minus_finger_midpoint": [ + 0.004219690547889288, + 0.011672410543338951, + 0.0 + ], + "finger_gap": 0.024823453120965785, + "fingertip_max_gap": 0.09151643235645537, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012411726560482892, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162279655978743, + "object_top_z": 1.2124499978490242, + "finger_top_clearance": 0.05017034187028124, + "fingertip_min_top_clearance": 0.015051102561084372, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012411726560482892, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825821617822769, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1317373911532937, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30767170048195014, + -0.3793309188483207, + 0.8515395691559726 + ], + "target_position": [ + 0.30198676442847217, + -0.37996663432944516, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005720369927292728, + "xy_threshold": 0.08, + "gripper_dist": 0.1817094606876028, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395691559726, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541888279502493, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565858833371996, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14996407668212092, + "release_required_pad_clearance": 0.05282929416685998, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7033182728223922, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008360683917999268, + "max_z_decrease": 0.008360683917999268, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035033944441045364, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008360683917999268, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020915140405034782, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008360683917999268, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008360905168311306, + "max_button_displacement": 0.12, + "button_start": [ + 0.15768669545650482, + -0.43622809648513794, + 0.7768088579177856 + ], + "button_final": [ + 0.15768669545650482, + -0.43622809648513794, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1588359340046924, + -0.4361656061412618, + 0.8034612757732829 + ], + "closest_button": [ + 0.15762847661972046, + -0.43621048331260676, + 0.7684481739997864 + ], + "closest_ee_minus_button": [ + 0.0012074573849719383, + 4.487717134493696e-05, + 0.03501310177349648 + ], + "button_min_z_position": [ + 0.15762847661972046, + -0.43621048331260676, + 0.7684481739997864 + ], + "min_active_finger_to_button": 0.14471349428316002, + "closest_active_finger": [ + 0.018091857433319092, + -0.41933369636535645, + 0.8107607960700989 + ], + "closest_active_finger_button": [ + 0.1576841175556183, + -0.43623077869415283, + 0.776548445224762 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395922601222992, + 0.016897082328796387, + 0.034212350845336914 + ], + "min_contact_pad_to_button": 0.020915140405034782, + "closest_contact_pad": [ + 0.15762847661972046, + -0.43740292259994007, + 0.7893292943410981 + ], + "closest_contact_pad_button": [ + 0.15762847661972046, + -0.43621048331260676, + 0.7684481739997864 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011924392873333134, + 0.020881120341311732 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e14c4bb66007baeafc70d5986bb9648cf8cffbd0fb6931ac7f3b6587de87236f", + "visual_seed": 2654948345727170303, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f4891e584b857923a5e632d853022523fe9d6d50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_45_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2314219745881279, + -0.052891095190872386, + 0.9972429007263655 + ], + "current_z": 0.9972429007263655, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.14065657213173421, + "gripper_z": 1.000125987225519, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22668602261684928, + -0.05750779722814807, + 1.000125987225519 + ], + "object_minus_gripper": [ + 0.004735951971278629, + 0.004616702037275683, + -0.0028830864991535865 + ], + "object_to_gripper_xy": 0.006613862621437141, + "object_to_gripper_z": -0.0028830864991535865, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2314219745881279, + -0.07706073232959244, + 0.9972429007263655 + ], + "finger_b": [ + 0.2201557380228679, + -0.052891095190872386, + 0.9972429007263655 + ], + "finger_midpoint": [ + 0.2257888563054979, + -0.06497591376023241, + 0.9972429007263655 + ], + "object_minus_finger_midpoint": [ + 0.005633118282630023, + 0.012084818569360029, + 0.0 + ], + "finger_gap": 0.026666447940470017, + "fingertip_max_gap": 0.09241187510723758, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013333223970235016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9972429007263655, + "object_top_z": 1.043035129466508, + "finger_top_clearance": 0.04579222874014244, + "fingertip_min_top_clearance": 0.013737668622042747, + "object_projection_between_fingers": 0.8215044504662434, + "object_to_finger_line_xy": 0.010211365619792969, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048705937553618794, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5073227732236691, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15816012639660448, + 0.23111522753700683, + 0.761106508014766 + ], + "gripper_position": [ + 0.16042601831647457, + 0.19478998987873922, + 1.0171165933856063 + ], + "target_minus_gripper": [ + -0.002265891919870089, + 0.03632523765826762, + -0.25601008537084036 + ], + "held_position": [ + 0.16522846728320312, + 0.19922579091243317, + 1.0140616337300752 + ], + "held_minus_target": [ + 0.007068340886598634, + -0.031889436624573664, + 0.2529551257153092 + ], + "held_minus_gripper": [ + 0.004802448966728545, + 0.0044358010336939535, + -0.003054959655531153 + ], + "xy_dist": 0.03639583983262588, + "held_xy_dist": 0.03266339864621963, + "held_gripper_dist": 0.007216136458346353, + "max_held_gripper_dist": 0.007220124838701042, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.0140616337300752, + "required_height": 0.791106508014766, + "gripper_z": 1.0171165933856063, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17330572911496, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3572903489790327, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.959523826311784, + "max_source_tilt_deg": 89.9950420219693, + "source_upright_tilt_deg": 1.9904995278783504, + "max_source_upright_tilt_deg": 89.66889840574312, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.959523826311784, + "source_upright_return_tilt_deg": 1.9904995278783504, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 3.604110068812318e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1582, + 0.2311, + 0.7611 + ], + "controller_target_position": [ + 0.1582, + 0.2311, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0019, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1567, + 0.2077, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0669, + 0.064, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001466768154973065, + 0.0019265859200632727, + -0.0017126681096761892 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.990507908595246, + "source_return_step_error_deg": 1.9595389585429985, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9906667221736136, + "source_return_best_wrist_position": -1.6089454889297485, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6089454889297485 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1582, + 0.2311, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1582, + 0.2311, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0019, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1567, + 0.2077, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0669, + 0.064, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001466768154973065, + 0.0019265859200632727, + -0.0017126681096761892 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.990507908595246, + "pour_controller_source_return_step_error_deg": 1.9595389585429985, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9906667221736136, + "pour_controller_source_return_best_wrist_position": -1.6089454889297485, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6089454889297485, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03639583983262588, + "valid_pour_held_xy_dist": 0.03266339864621963, + "valid_pour_held_gripper_dist": 0.007216136458346353, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.0140616337300752, + "valid_pour_source_tilt_deg": 1.959523826311784, + "valid_pour_source_upright_tilt_deg": 1.9904995278783504, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16522846728320312, + 0.1753008769407876, + 1.0140616337300752 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15428844276920228, + 0.19922579091243317, + 1.0140616337300752 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1597584550262027, + 0.18726333392661038, + 1.0140616337300752 + ], + "valid_pour_held_grasp_object_position": [ + 0.16522846728320312, + 0.19922579091243317, + 1.0140616337300752 + ], + "valid_pour_held_grasp_finger_gap": 0.026307520691193617, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02404291147478341, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012105419477983999, + -0.9993966087936338, + 0.032555754499731804 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056278382625428594, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03331120281426048, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16522846728320312, + 0.1753008769407876, + 1.0140616337300752 + ], + "held_grasp_finger_b": [ + 0.15428844276920228, + 0.19922579091243317, + 1.0140616337300752 + ], + "held_grasp_midpoint": [ + 0.1597584550262027, + 0.18726333392661038, + 1.0140616337300752 + ], + "held_grasp_object_position": [ + 0.16522846728320312, + 0.19922579091243317, + 1.0140616337300752 + ], + "held_grasp_finger_gap": 0.026307520691193617, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02404291147478341, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012105419477983999, + -0.9993966087936338, + 0.032555754499731804 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056278382625428594, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03331120281426048, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21379127535067388, + -0.05370367056744329, + 0.7565864076949083 + ], + "target_position": [ + 0.20997414122257224, + -0.055875310573079054, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004391643572285435, + "xy_threshold": 0.08, + "gripper_dist": 0.21797860923860307, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864076949083, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524720727244755, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08576953461879992, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18953125297884907, + "release_required_pad_clearance": 0.05288476730939996, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8098704691437083, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16485002769941948, + 0.22833640527983365, + 1.1607819853322614 + ], + "current_z": 1.1607819853322614, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.29967547731749533, + "gripper_z": 1.1544419399905326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.162344695481805, + 0.22456113413688278, + 1.1544419399905326 + ], + "object_minus_gripper": [ + 0.002505332217614481, + 0.00377527114295087, + 0.006340045341728828 + ], + "object_to_gripper_xy": 0.004530933868797321, + "object_to_gripper_z": 0.006340045341728828, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16485002769941948, + 0.20549100829440356, + 1.1607819853322614 + ], + "finger_b": [ + 0.15612230995921608, + 0.22833640527983365, + 1.1607819853322614 + ], + "finger_midpoint": [ + 0.16048616882931777, + 0.2169137067871186, + 1.1607819853322614 + ], + "object_minus_finger_midpoint": [ + 0.004363858870101711, + 0.011422698492715044, + 0.0 + ], + "finger_gap": 0.02445578091933601, + "fingertip_max_gap": 0.0921901458806724, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01222789045966801, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1607819853322614, + "object_top_z": 1.2110660401259217, + "finger_top_clearance": 0.05028405479366027, + "fingertip_min_top_clearance": 0.01508521643809808, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01222789045966801, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0485950729403362, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.474074782135756, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3083567361501726, + -0.38425108849621636, + 0.851539586547502 + ], + "target_position": [ + 0.3043272135572125, + -0.3842445529990503, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004029527892929811, + "xy_threshold": 0.08, + "gripper_dist": 0.18058245418010987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539586547502, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577125658075799, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08814262712309516, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14786308755190242, + "release_required_pad_clearance": 0.05407131356154758, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1553675595946293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008535683155059814, + "max_z_decrease": 0.008535683155059814, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503540244746119, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008535683155059814, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086316960458623, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008535683155059814, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008535826250648837, + "max_button_displacement": 0.12, + "button_start": [ + 0.1600271463394165, + -0.44050601124763483, + 0.7768088579177856 + ], + "button_final": [ + 0.1600271463394165, + -0.44050601124763483, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16014206082842392, + -0.4390101266094459, + 0.8032768203453166 + ], + "closest_button": [ + 0.15997956693172455, + -0.44049263000488276, + 0.7682731747627258 + ], + "closest_ee_minus_button": [ + 0.0001624938966993672, + 0.0014825033954368738, + 0.035003645582590726 + ], + "button_min_z_position": [ + 0.15997956693172455, + -0.44049263000488276, + 0.7682731747627258 + ], + "min_active_finger_to_button": 0.14502356278405742, + "closest_active_finger": [ + 0.03412240743637085, + -0.5038856267929077, + 0.8105427026748657 + ], + "closest_active_finger_button": [ + 0.1600205898284912, + -0.4405056238174438, + 0.7764185667037964 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12589818239212036, + -0.06338000297546392, + 0.034124135971069336 + ], + "min_contact_pad_to_button": 0.02086316960458623, + "closest_contact_pad": [ + 0.15997956693172455, + -0.44049263000488276, + 0.7891363443673121 + ], + "closest_contact_pad_button": [ + 0.15997956693172455, + -0.44049263000488276, + 0.7682731747627258 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086316960458623 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "17a89f8015bea14394033208dde7e9f549d41ed2b4c05a9bb6196d7faf698d13", + "visual_seed": 6884895679644216207, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a648b20215660344ca24ce4c0eade1b2594b21c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_46_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2347606819315852, + -0.05647985621134683, + 0.9956752405204283 + ], + "current_z": 0.9956752405204283, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.13908879271650776, + "gripper_z": 0.998509860377348, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23044909233839644, + -0.060954164816807724, + 0.998509860377348 + ], + "object_minus_gripper": [ + 0.004311589593188753, + 0.004474308605460893, + -0.0028346198569196845 + ], + "object_to_gripper_xy": 0.006213633584062948, + "object_to_gripper_z": -0.0028346198569196845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2347606819315852, + -0.08026076472352521, + 0.9956752405204283 + ], + "finger_b": [ + 0.2235785930181991, + -0.05647985621134683, + 0.9956752405204283 + ], + "finger_midpoint": [ + 0.22916963747489216, + -0.06837031046743602, + 0.9956752405204283 + ], + "object_minus_finger_midpoint": [ + 0.005591044456693034, + 0.011890454256089193, + 0.0 + ], + "finger_gap": 0.026278712337773902, + "fingertip_max_gap": 0.09312180323573918, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313935616888695, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9956752405204283, + "object_top_z": 1.041421023655622, + "finger_top_clearance": 0.04574578313519373, + "fingertip_min_top_clearance": 0.013723734940558119, + "object_projection_between_fingers": 0.8189336610145668, + "object_to_finger_line_xy": 0.010119226163225529, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04906090161786959, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4517357897580427, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15534181017536736, + 0.2340637203024335, + 0.7611062695961869 + ], + "gripper_position": [ + 0.1590843045881106, + 0.19617684347825198, + 1.017688554354627 + ], + "target_minus_gripper": [ + -0.0037424944127432413, + 0.037886876824181515, + -0.25658228475844014 + ], + "held_position": [ + 0.16350778565391438, + 0.20043400221264357, + 1.0146937481806277 + ], + "held_minus_target": [ + 0.008165975478547027, + -0.03362971808978993, + 0.25358747858444086 + ], + "held_minus_gripper": [ + 0.004423481065803786, + 0.004257158734391586, + -0.002994806173999276 + ], + "xy_dist": 0.038071271319987686, + "held_xy_dist": 0.034606951531664494, + "held_gripper_dist": 0.006830772229342401, + "max_held_gripper_dist": 0.006835282293201917, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961869, + "held_z": 1.0146937481806277, + "required_height": 0.7911062695961869, + "gripper_z": 1.017688554354627, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17691889918589, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6557954502430354, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9755736248746874, + "max_source_tilt_deg": 89.71872029005172, + "source_upright_tilt_deg": 2.100106816405882, + "max_source_upright_tilt_deg": 89.63416071369834, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9755736248746874, + "source_upright_return_tilt_deg": 2.100106816405882, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 1.4136482746161726e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1553, + 0.2341, + 0.7611 + ], + "controller_target_position": [ + 0.1553, + 0.2341, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0006, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.1566, + 0.208, + 1.0272 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0643, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012581846885525443, + -0.0006035097308455765, + 0.0006617654449390551 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1001060495484345, + "source_return_step_error_deg": 1.9755655926180955, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0999704674551274, + "source_return_best_wrist_position": -1.6097073554992676, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097073554992676 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1553, + 0.2341, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1553, + 0.2341, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0006, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1566, + 0.208, + 1.0272 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0643, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012581846885525443, + -0.0006035097308455765, + 0.0006617654449390551 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1001060495484345, + "pour_controller_source_return_step_error_deg": 1.9755655926180955, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0999704674551274, + "pour_controller_source_return_best_wrist_position": -1.6097073554992676, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097073554992676, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038071271319987686, + "valid_pour_held_xy_dist": 0.034606951531664494, + "valid_pour_held_gripper_dist": 0.006830772229342401, + "valid_pour_required_height": 0.7911062695961869, + "valid_pour_held_z": 1.0146937481806277, + "valid_pour_source_tilt_deg": 1.9755736248746874, + "valid_pour_source_upright_tilt_deg": 2.100106816405882, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16350778565391438, + 0.17673834970417937, + 1.0146937481806277 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1529046848370162, + 0.20043400221264357, + 1.0146937481806277 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1582062352454653, + 0.18858617595841148, + 1.0146937481806277 + ], + "valid_pour_held_grasp_object_position": [ + 0.16350778565391438, + 0.20043400221264357, + 1.0146937481806277 + ], + "valid_pour_held_grasp_finger_gap": 0.025959770698817677, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023878534020312647, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018748956841619653, + -0.9993283338473489, + 0.03148583470757615 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005535231656722242, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03345975503525782, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16350778565391438, + 0.17673834970417937, + 1.0146937481806277 + ], + "held_grasp_finger_b": [ + 0.1529046848370162, + 0.20043400221264357, + 1.0146937481806277 + ], + "held_grasp_midpoint": [ + 0.1582062352454653, + 0.18858617595841148, + 1.0146937481806277 + ], + "held_grasp_object_position": [ + 0.16350778565391438, + 0.20043400221264357, + 1.0146937481806277 + ], + "held_grasp_finger_gap": 0.025959770698817677, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023878534020312647, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018748956841619653, + -0.9993283338473489, + 0.03148583470757615 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005535231656722242, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03345975503525782, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22020162554506817, + -0.06086597399974093, + 0.756586510773256 + ], + "target_position": [ + 0.21374386062671058, + -0.058452758037575575, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006893934944632105, + "xy_threshold": 0.08, + "gripper_dist": 0.2186170277387964, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586510773256, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559647461586583, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08670436348514142, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18854542514759898, + "release_required_pad_clearance": 0.05335218174257071, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7209661389281101, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16229125686932053, + 0.22939525309910455, + 1.1620611859102339 + ], + "current_z": 1.1620611859102339, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30095485670940225, + "gripper_z": 1.1559536392299343, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1595178045691506, + 0.22545272204584285, + 1.1559536392299343 + ], + "object_minus_gripper": [ + 0.0027734523001699263, + 0.0039425310532617, + 0.006107546680299558 + ], + "object_to_gripper_xy": 0.004820330773634799, + "object_to_gripper_z": 0.006107546680299558, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16229125686932053, + 0.20638990570884444, + 1.1620611859102339 + ], + "finger_b": [ + 0.15328223884859368, + 0.22939525309910455, + 1.1620611859102339 + ], + "finger_midpoint": [ + 0.1577867478589571, + 0.2178925794039745, + 1.1620611859102339 + ], + "object_minus_finger_midpoint": [ + 0.004504509010363422, + 0.011502673695130056, + 0.0 + ], + "finger_gap": 0.024706444791679938, + "fingertip_max_gap": 0.09163674623175228, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012353222395839969, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1620611859102339, + "object_top_z": 1.2123237017794277, + "finger_top_clearance": 0.050262515869193836, + "fingertip_min_top_clearance": 0.01507875476075815, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012353222395839969, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04831837311587614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0506139132192915, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30779619961132654, + -0.3852427749918692, + 0.8515395240868221 + ], + "target_position": [ + 0.3024696575174264, + -0.3856456938937571, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005341759477886362, + "xy_threshold": 0.08, + "gripper_dist": 0.18485962184472376, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395240868221, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548533086994164, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583736585241751, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15280156735716222, + "release_required_pad_clearance": 0.05291868292620876, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8758036977444317, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008627057075500488, + "max_z_decrease": 0.008627057075500488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03511351368992836, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008627057075500488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021091093148964637, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008627057075500488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008627548930806039, + "max_button_displacement": 0.12, + "button_start": [ + 0.15816958248615265, + -0.44190713763237005, + 0.7768088579177856 + ], + "button_final": [ + 0.15816958248615265, + -0.44190713763237005, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15988232746777334, + -0.4439212840918324, + 0.8031894602847139 + ], + "closest_button": [ + 0.15808306634426117, + -0.4418754875659943, + 0.7681818008422852 + ], + "closest_ee_minus_button": [ + 0.0017992611235121692, + -0.002045796525838084, + 0.035007659442428785 + ], + "button_min_z_position": [ + 0.15808306634426117, + -0.4418754875659943, + 0.7681818008422852 + ], + "min_active_finger_to_button": 0.1440106128341586, + "closest_active_finger": [ + 0.018806330859661102, + -0.42979153990745544, + 0.8106313943862915 + ], + "closest_active_finger_button": [ + 0.15816594660282135, + -0.4419073164463043, + 0.7764091491699219 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13935961574316025, + 0.012115776538848877, + 0.03422224521636963 + ], + "min_contact_pad_to_button": 0.021091093148964637, + "closest_contact_pad": [ + 0.15808306634426117, + -0.4449221072906087, + 0.7890516910785057 + ], + "closest_contact_pad_button": [ + 0.15808306634426117, + -0.4418754875659943, + 0.7681818008422852 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0030466197246143967, + 0.020869890236220545 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4b04115a0411f4f4c962bc2cc564565f9f7f77b970baa1b39395d6b3fc384e5a", + "visual_seed": 3315162057627685703, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7935f4abf71b7487be46e63e3e56146b2a0611f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_47_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2373408261311285, + -0.049022789082013546, + 0.9977554338964975 + ], + "current_z": 0.9977554338964975, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1411689264879319, + "gripper_z": 1.0001898189884448, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23286313133923034, + -0.05359172905238055, + 1.0001898189884448 + ], + "object_minus_gripper": [ + 0.0044776947918981624, + 0.004568939970367003, + -0.0024343850919473775 + ], + "object_to_gripper_xy": 0.006397262156751836, + "object_to_gripper_z": -0.0024343850919473775, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2373408261311285, + -0.07284641684919604, + 0.9977554338964975 + ], + "finger_b": [ + 0.22592781132122525, + -0.049022789082013546, + 0.9977554338964975 + ], + "finger_midpoint": [ + 0.23163431872617687, + -0.060934602965604795, + 0.9977554338964975 + ], + "object_minus_finger_midpoint": [ + 0.005706507404951627, + 0.011911813883591249, + 0.0 + ], + "finger_gap": 0.026416323495905707, + "fingertip_max_gap": 0.09339996198665307, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013208161747952854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9977554338964975, + "object_top_z": 1.0435835587220437, + "finger_top_clearance": 0.04582812482554621, + "fingertip_min_top_clearance": 0.013748437447663863, + "object_projection_between_fingers": 0.8133379578112744, + "object_to_finger_line_xy": 0.010292856103712476, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049199980993326536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.424015451825607, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15923059601444806, + 0.23643836935028506, + 0.7611065676194106 + ], + "gripper_position": [ + 0.16191061976907012, + 0.2006351162932133, + 1.0184131709740865 + ], + "target_minus_gripper": [ + -0.002680023754622063, + 0.03580325305707177, + -0.2573066033546758 + ], + "held_position": [ + 0.16645617020264955, + 0.2050443431464177, + 1.0158135505863617 + ], + "held_minus_target": [ + 0.0072255741882014946, + -0.03139402620386736, + 0.25470698296695105 + ], + "held_minus_gripper": [ + 0.004545550433579432, + 0.004409226853204412, + -0.002599620387724766 + ], + "xy_dist": 0.03590341845554623, + "held_xy_dist": 0.03221480721094438, + "held_gripper_dist": 0.006845534043995932, + "max_held_gripper_dist": 0.00685221826518958, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194106, + "held_z": 1.0158135505863617, + "required_height": 0.7911065676194107, + "gripper_z": 1.0184131709740865, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17129765349897, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.477687394844215, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8582754515892022, + "max_source_tilt_deg": 89.98522244304655, + "source_upright_tilt_deg": 2.4431457431324697, + "max_source_upright_tilt_deg": 89.92730773948563, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8582754515892022, + "source_upright_return_tilt_deg": 2.4431457431324697, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 1.5341684432308377e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1592, + 0.2364, + 0.7611 + ], + "controller_target_position": [ + 0.1592, + 0.2364, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0016, + 0.0014, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.1576, + 0.2125, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0649, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016058264737616379, + 0.00136143812247321, + 0.0009508959518124789 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.443162382525908, + "source_return_step_error_deg": 1.858301121140203, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4541838688016915, + "source_return_best_wrist_position": -1.6089937686920166, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6089937686920166 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1592, + 0.2364, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1592, + 0.2364, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0016, + 0.0014, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1576, + 0.2125, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0649, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016058264737616379, + 0.00136143812247321, + 0.0009508959518124789 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.443162382525908, + "pour_controller_source_return_step_error_deg": 1.858301121140203, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4541838688016915, + "pour_controller_source_return_best_wrist_position": -1.6089937686920166, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6089937686920166, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03590341845554623, + "valid_pour_held_xy_dist": 0.03221480721094438, + "valid_pour_held_gripper_dist": 0.006845534043995932, + "valid_pour_required_height": 0.7911065676194107, + "valid_pour_held_z": 1.0158135505863617, + "valid_pour_source_tilt_deg": 1.8582754515892022, + "valid_pour_source_upright_tilt_deg": 2.4431457431324697, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16645617020264955, + 0.181439172416056, + 1.0158135505863617 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15538581880342808, + 0.2050443431464177, + 1.0158135505863617 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16092099450303882, + 0.19324175778123687, + 1.0158135505863617 + ], + "valid_pour_held_grasp_object_position": [ + 0.16645617020264955, + 0.2050443431464177, + 1.0158135505863617 + ], + "valid_pour_held_grasp_finger_gap": 0.026072145391428173, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02389728236390356, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028325047316612704, + -0.9990910214589122, + 0.031856279360579005 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005879138428836108, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03356515201105348, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16645617020264955, + 0.181439172416056, + 1.0158135505863617 + ], + "held_grasp_finger_b": [ + 0.15538581880342808, + 0.2050443431464177, + 1.0158135505863617 + ], + "held_grasp_midpoint": [ + 0.16092099450303882, + 0.19324175778123687, + 1.0158135505863617 + ], + "held_grasp_object_position": [ + 0.16645617020264955, + 0.2050443431464177, + 1.0158135505863617 + ], + "held_grasp_finger_gap": 0.026072145391428173, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02389728236390356, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028325047316612704, + -0.9990910214589122, + 0.031856279360579005 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005879138428836108, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03356515201105348, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22156541167214247, + -0.05314012223636778, + 0.7565864937239941 + ], + "target_position": [ + 0.21556820348326602, + -0.049598269882717344, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006964999939395967, + "xy_threshold": 0.08, + "gripper_dist": 0.21808174814808404, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864937239941, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536028846405532, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08747956432141592, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18833589648166255, + "release_required_pad_clearance": 0.05373978216070796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.488852958868896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16619334868095478, + 0.23199045325819748, + 1.1617138366610504 + ], + "current_z": 1.1617138366610504, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.3006072690416398, + "gripper_z": 1.1553608797027553, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16317740682936405, + 0.22810718475770192, + 1.1553608797027553 + ], + "object_minus_gripper": [ + 0.0030159418515907366, + 0.003883268500495557, + 0.006352956958295186 + ], + "object_to_gripper_xy": 0.004916877006710415, + "object_to_gripper_z": 0.006352956958295186, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16619334868095478, + 0.2087584670412353, + 1.1617138366610504 + ], + "finger_b": [ + 0.1573835554925319, + 0.23199045325819748, + 1.1617138366610504 + ], + "finger_midpoint": [ + 0.16178845208674336, + 0.2203744601497164, + 1.1617138366610504 + ], + "object_minus_finger_midpoint": [ + 0.0044048965942114215, + 0.011615993108481076, + 0.0 + ], + "finger_gap": 0.0248462801965989, + "fingertip_max_gap": 0.09109934375189849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012423140098299432, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617138366610504, + "object_top_z": 1.21159215003624, + "finger_top_clearance": 0.049878313375189665, + "fingertip_min_top_clearance": 0.014963494012556899, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012423140098299432, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048049671875949246, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7644763324346537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31117829933895647, + -0.38530475966861266, + 0.8515395587423978 + ], + "target_position": [ + 0.30632378536368665, + -0.3862528066377839, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004946220677633043, + "xy_threshold": 0.08, + "gripper_dist": 0.18028713492228265, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395587423978, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557259443949861, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496536483572935, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14832613676325712, + "release_required_pad_clearance": 0.052482682417864676, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956467176923145, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008748948574066162, + "max_z_decrease": 0.008748948574066162, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502164430454436, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008748948574066162, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020882032008268284, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008748948574066162, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008749853531535096, + "max_button_displacement": 0.12, + "button_start": [ + 0.16202370822429663, + -0.44251427054405207, + 0.7768088579177856 + ], + "button_final": [ + 0.16202370822429663, + -0.44251427054405207, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16299284742487377, + -0.4418741571587215, + 0.803828518895997 + ], + "closest_button": [ + 0.16191312670707705, + -0.4424756169319152, + 0.7688286900520325 + ], + "closest_ee_minus_button": [ + 0.0010797207177967172, + 0.0006014597731937021, + 0.034999828843964575 + ], + "button_min_z_position": [ + 0.16190412640571597, + -0.44247508049011225, + 0.7680599093437195 + ], + "min_active_finger_to_button": 0.14467791006001612, + "closest_active_finger": [ + 0.03645922243595123, + -0.5057670474052429, + 0.8108806014060974 + ], + "closest_active_finger_button": [ + 0.16202443838119507, + -0.44251352548599243, + 0.7767621874809265 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12556521594524384, + -0.06325352191925049, + 0.0341184139251709 + ], + "min_contact_pad_to_button": 0.020882032008268284, + "closest_contact_pad": [ + 0.16190412640571597, + -0.4429257268151716, + 0.7889370781815684 + ], + "closest_contact_pad_button": [ + 0.16190412640571597, + -0.44247508049011225, + 0.7680599093437195 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004506463250593673, + 0.02087716883784896 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "641fe21dcef09f7a24ac569d20f561600aaa32fe6a77e4f5b5be06e26a34d507", + "visual_seed": 9054060353997176068, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..974a4e05620f6e171ec2c462974c343702bac95b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_48_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23379551824848444, + -0.05586285510121433, + 0.9952930901770286 + ], + "current_z": 0.9952930901770286, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.13870658276846293, + "gripper_z": 0.9981539518244168, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22944283445306132, + -0.06030616791805324, + 0.9981539518244168 + ], + "object_minus_gripper": [ + 0.004352683795423112, + 0.004443312816838907, + -0.002860861647388191 + ], + "object_to_gripper_xy": 0.006220038987918311, + "object_to_gripper_z": -0.002860861647388191, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23379551824848444, + -0.07971587487657104, + 0.9952930901770286 + ], + "finger_b": [ + 0.22271690480078302, + -0.05586285510121433, + 0.9952930901770286 + ], + "finger_midpoint": [ + 0.2282562115246337, + -0.06778936498889268, + 0.9952930901770286 + ], + "object_minus_finger_midpoint": [ + 0.005539306723850723, + 0.01192650988767835, + 0.0 + ], + "finger_gap": 0.026300232476674974, + "fingertip_max_gap": 0.09309548397223899, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013150116238337487, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952930901770286, + "object_top_z": 1.040875342744135, + "finger_top_clearance": 0.04558225256710646, + "fingertip_min_top_clearance": 0.013674675770131922, + "object_projection_between_fingers": 0.8225599529722184, + "object_to_finger_line_xy": 0.010047758546846258, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0490477419861195, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.600702905837283, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1608296694244823, + 0.23014711399540377, + 0.7611065676194111 + ], + "gripper_position": [ + 0.16433091713601516, + 0.191229400320865, + 1.0162068502217414 + ], + "target_minus_gripper": [ + -0.0035012477115328733, + 0.03891771367453878, + -0.2551002826023303 + ], + "held_position": [ + 0.16873162530291297, + 0.19551707240567262, + 1.0131835166132648 + ], + "held_minus_target": [ + 0.007901955878430678, + -0.03463004158973115, + 0.2520769489938537 + ], + "held_minus_gripper": [ + 0.004400708166897804, + 0.0042876720848076255, + -0.0030233336084766194 + ], + "xy_dist": 0.03907489185130135, + "held_xy_dist": 0.03552014480842068, + "held_gripper_dist": 0.006847693800483771, + "max_held_gripper_dist": 0.006857375616725493, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194111, + "held_z": 1.0131835166132648, + "required_height": 0.7911065676194111, + "gripper_z": 1.0162068502217414, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19085248509272, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1199443353167524, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8758575445432, + "max_source_tilt_deg": 89.75465243139206, + "source_upright_tilt_deg": 2.8416867558781873, + "max_source_upright_tilt_deg": 89.70387950312279, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8758575445432, + "source_upright_return_tilt_deg": 2.8416867558781873, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4975481660844222e-07, + "max_target_xy_drift": 3.54196558118007e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1608, + 0.2301, + 0.7611 + ], + "controller_target_position": [ + 0.1608, + 0.2301, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.0018, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.161, + 0.2028, + 1.0257 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0656, + 0.0929 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00020315367833321748, + -0.0018105050386985001, + -0.0009010013439452807 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.841684404236802, + "source_return_step_error_deg": 1.8758546156927762, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8452368855063446, + "source_return_best_wrist_position": -1.609763503074646, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609763503074646 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1608, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1608, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.0018, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.161, + 0.2028, + 1.0257 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0656, + 0.0929 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00020315367833321748, + -0.0018105050386985001, + -0.0009010013439452807 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.841684404236802, + "pour_controller_source_return_step_error_deg": 1.8758546156927762, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8452368855063446, + "pour_controller_source_return_best_wrist_position": -1.609763503074646, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609763503074646, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03907489185130135, + "valid_pour_held_xy_dist": 0.03552014480842068, + "valid_pour_held_gripper_dist": 0.006847693800483771, + "valid_pour_required_height": 0.7911065676194111, + "valid_pour_held_z": 1.0131835166132648, + "valid_pour_source_tilt_deg": 1.8758575445432, + "valid_pour_source_upright_tilt_deg": 2.8416867558781873, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4975481660844222e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16873162530291297, + 0.17197240121653526, + 1.0131835166132648 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1578948352535448, + 0.19551707240567262, + 1.0131835166132648 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1633132302782289, + 0.18374473681110393, + 1.0131835166132648 + ], + "valid_pour_held_grasp_object_position": [ + 0.16873162530291297, + 0.19551707240567262, + 1.0131835166132648 + ], + "valid_pour_held_grasp_finger_gap": 0.025918864943872053, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023905361194620448, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03595547527934616, + -0.9987703403877736, + 0.034132256871282844 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005851754175334068, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03363718630522807, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16873162530291297, + 0.17197240121653526, + 1.0131835166132648 + ], + "held_grasp_finger_b": [ + 0.1578948352535448, + 0.19551707240567262, + 1.0131835166132648 + ], + "held_grasp_midpoint": [ + 0.1633132302782289, + 0.18374473681110393, + 1.0131835166132648 + ], + "held_grasp_object_position": [ + 0.16873162530291297, + 0.19551707240567262, + 1.0131835166132648 + ], + "held_grasp_finger_gap": 0.025918864943872053, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023905361194620448, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03595547527934616, + -0.9987703403877736, + 0.034132256871282844 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005851754175334068, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03363718630522807, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21849606071620783, + -0.058448918213892004, + 0.75658909970272 + ], + "target_position": [ + 0.2127123282340576, + -0.05776714098966763, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005823777262958352, + "xy_threshold": 0.08, + "gripper_dist": 0.21915820135121516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658909970272, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07594357537401046, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08818075241102001, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1889174421832148, + "release_required_pad_clearance": 0.05409037620551001, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1923624223034373, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16768549134123123, + 0.22795665455218136, + 1.1623290839152158 + ], + "current_z": 1.1623290839152158, + "required_z": 0.8611066272240558, + "initial_z": 0.7611066272240559, + "lift_margin": 0.30122245669116, + "gripper_z": 1.1561473725006037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1649905153965141, + 0.22406483250673795, + 1.1561473725006037 + ], + "object_minus_gripper": [ + 0.002694975944717126, + 0.003891822045443416, + 0.006181711414612101 + ], + "object_to_gripper_xy": 0.00473383292649871, + "object_to_gripper_z": 0.006181711414612101, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16768549134123123, + 0.20502387345912848, + 1.1623290839152158 + ], + "finger_b": [ + 0.15873361124610394, + 0.22795665455218136, + 1.1623290839152158 + ], + "finger_midpoint": [ + 0.1632095512936676, + 0.2164902640056549, + 1.1623290839152158 + ], + "object_minus_finger_midpoint": [ + 0.004475940047563631, + 0.011466390546526456, + 0.0 + ], + "finger_gap": 0.02461805447023424, + "fingertip_max_gap": 0.09197970741122008, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012309027235117127, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623290839152158, + "object_top_z": 1.212575794742751, + "finger_top_clearance": 0.05024671082753507, + "fingertip_min_top_clearance": 0.015074013248260553, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012309027235117127, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848985370561004, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2986579207005409, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3062159511428018, + -0.38203121538581175, + 0.85153957710222 + ], + "target_position": [ + 0.3007824798318326, + -0.38177471368826393, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005439522369470546, + "xy_threshold": 0.08, + "gripper_dist": 0.18357720946555955, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153957710222, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565020694683453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609411725649328, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15094369319890802, + "release_required_pad_clearance": 0.05304705862824664, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1246440792941281, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0083884596824646, + "max_z_decrease": 0.0083884596824646, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038461248914, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0083884596824646, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021081311439668318, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0083884596824646, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008388733817528206, + "max_button_displacement": 0.12, + "button_start": [ + 0.1564823985099793, + -0.438036173582077, + 0.7768088579177856 + ], + "button_final": [ + 0.1564823985099793, + -0.438036173582077, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15576794782611406, + -0.4398643465450812, + 0.8037666476163337 + ], + "closest_button": [ + 0.15638978779315954, + -0.43803417682647705, + 0.7687815427780151 + ], + "closest_ee_minus_button": [ + -0.0006218399670454844, + -0.0018301697186041688, + 0.034985104838318515 + ], + "button_min_z_position": [ + 0.15641632676124576, + -0.4380208849906921, + 0.768420398235321 + ], + "min_active_finger_to_button": 0.14628241381075194, + "closest_active_finger": [ + 0.015174873173236847, + -0.4218641519546509, + 0.8107078075408936 + ], + "closest_active_finger_button": [ + 0.15647922456264501, + -0.4380393624305725, + 0.7765027284622192 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14130435138940817, + 0.01617521047592163, + 0.034205079078674316 + ], + "min_contact_pad_to_button": 0.021081311439668318, + "closest_contact_pad": [ + 0.15641632676124576, + -0.44119990511983853, + 0.7892606363106112 + ], + "closest_contact_pad_button": [ + 0.15641632676124576, + -0.4380208849906921, + 0.768420398235321 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003179020129146448, + 0.02084023807529012 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e44fbe7c7b18fdcf8f2f725b86c12b41707ad228cf1e771370a5dd89145f09b9", + "visual_seed": 9081832130137460299, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d51e0ec58df55f2089c6fc0bc835498a7662af60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_49_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23727268030368673, + -0.04785825330279572, + 0.9955487154457847 + ], + "current_z": 0.9955487154457847, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13896220803721915, + "gripper_z": 0.9984803737511543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23267842682695183, + -0.052499159275870275, + 0.9984803737511543 + ], + "object_minus_gripper": [ + 0.004594253476734894, + 0.004640905973074552, + -0.0029316583053695666 + ], + "object_to_gripper_xy": 0.006530327193901521, + "object_to_gripper_z": -0.0029316583053695666, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23727268030368673, + -0.07178725606103184, + 0.9955487154457847 + ], + "finger_b": [ + 0.2257925641465759, + -0.04785825330279572, + 0.9955487154457847 + ], + "finger_midpoint": [ + 0.23153262222513132, + -0.05982275468191378, + 0.9955487154457847 + ], + "object_minus_finger_midpoint": [ + 0.0057400580785554045, + 0.011964501379118059, + 0.0 + ], + "finger_gap": 0.026540351165431648, + "fingertip_max_gap": 0.09294936694413383, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013270175582715817, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955487154457847, + "object_top_z": 1.041452514416441, + "finger_top_clearance": 0.04590379897065633, + "fingertip_min_top_clearance": 0.013771139691196881, + "object_projection_between_fingers": 0.8128976531763549, + "object_to_finger_line_xy": 0.010350568817875253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897468347206692, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0019690782607085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15503554660935015, + 0.23510778506264166, + 0.7611066272240558 + ], + "gripper_position": [ + 0.15848997616792757, + 0.19844411919390975, + 1.017245383151981 + ], + "target_minus_gripper": [ + -0.0034544295585774154, + 0.036663665868731904, + -0.25613875592792523 + ], + "held_position": [ + 0.163214831246506, + 0.20283939828147246, + 1.0141443632560316 + ], + "held_minus_target": [ + 0.008179284637155837, + -0.032268386781169195, + 0.2530377360319759 + ], + "held_minus_gripper": [ + 0.004724855078578422, + 0.004395279087562709, + -0.003101019895949353 + ], + "xy_dist": 0.036826043481606736, + "held_xy_dist": 0.033288879263723314, + "held_gripper_dist": 0.007159543153456659, + "max_held_gripper_dist": 0.007163569439546027, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240558, + "held_z": 1.0141443632560316, + "required_height": 0.7911066272240558, + "gripper_z": 1.017245383151981, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17807320115563, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1301807931828876, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.025872062941835, + "max_source_tilt_deg": 89.89925953663604, + "source_upright_tilt_deg": 1.7787335048485962, + "max_source_upright_tilt_deg": 89.89440953801946, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.025872062941835, + "source_upright_return_tilt_deg": 1.7787335048485962, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.322027276634104e-08, + "max_target_xy_drift": 3.017255176799981e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.155, + 0.2351, + 0.7611 + ], + "controller_target_position": [ + 0.155, + 0.2351, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.0012, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.1549, + 0.211, + 1.0255 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0634, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00017703265334871425, + 0.0012489478022265008, + -0.001015091042841488 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.7787326115979227, + "source_return_step_error_deg": 2.0258654242766574, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0233283494874326, + "source_return_best_wrist_position": -1.60978102684021, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60978102684021 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.155, + 0.2351, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.155, + 0.2351, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.0012, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1549, + 0.211, + 1.0255 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0634, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00017703265334871425, + 0.0012489478022265008, + -0.001015091042841488 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.7787326115979227, + "pour_controller_source_return_step_error_deg": 2.0258654242766574, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0233283494874326, + "pour_controller_source_return_best_wrist_position": -1.60978102684021, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60978102684021, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036826043481606736, + "valid_pour_held_xy_dist": 0.033288879263723314, + "valid_pour_held_gripper_dist": 0.007159543153456659, + "valid_pour_required_height": 0.7911066272240558, + "valid_pour_held_z": 1.0141443632560316, + "valid_pour_source_tilt_deg": 2.025872062941835, + "valid_pour_source_upright_tilt_deg": 1.7787335048485962, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.322027276634104e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.163214831246506, + 0.17895198659123057, + 1.0141443632560316 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15238525088235028, + 0.20283939828147246, + 1.0141443632560316 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15780004106442813, + 0.19089569243635152, + 1.0141443632560316 + ], + "valid_pour_held_grasp_object_position": [ + 0.163214831246506, + 0.20283939828147246, + 1.0141443632560316 + ], + "valid_pour_held_grasp_finger_gap": 0.026227623760508915, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02394915244859849, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00676394710826112, + -0.9995181583262153, + 0.030293566902685476 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005507314500238704, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033298899450299346, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.163214831246506, + 0.17895198659123057, + 1.0141443632560316 + ], + "held_grasp_finger_b": [ + 0.15238525088235028, + 0.20283939828147246, + 1.0141443632560316 + ], + "held_grasp_midpoint": [ + 0.15780004106442813, + 0.19089569243635152, + 1.0141443632560316 + ], + "held_grasp_object_position": [ + 0.163214831246506, + 0.20283939828147246, + 1.0141443632560316 + ], + "held_grasp_finger_gap": 0.026227623760508915, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02394915244859849, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00676394710826112, + -0.9995181583262153, + 0.030293566902685476 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005507314500238704, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033298899450299346, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.219625424723892, + -0.050371941520815394, + 0.756586317374583 + ], + "target_position": [ + 0.21535696174741834, + -0.05042486448763732, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004268791049225009, + "xy_threshold": 0.08, + "gripper_dist": 0.21752949998889873, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586317374583, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07595468300897067, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0911591075422055, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18747179665225638, + "release_required_pad_clearance": 0.055579553771102755, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.315178582347246, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 269, + "max_placed_release_frames": 269 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1620523242321233, + 0.23126346484634225, + 1.1614604735986336 + ], + "current_z": 1.1614604735986336, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30035384637457796, + "gripper_z": 1.155375134153217, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1592571183296762, + 0.22731442394321477, + 1.155375134153217 + ], + "object_minus_gripper": [ + 0.0027952059024470843, + 0.0039490409031274765, + 0.00608533944541656 + ], + "object_to_gripper_xy": 0.0048381918204685615, + "object_to_gripper_z": 0.00608533944541656, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1620523242321233, + 0.20836970331780805, + 1.1614604735986336 + ], + "finger_b": [ + 0.15287379236087706, + 0.23126346484634225, + 1.1614604735986336 + ], + "finger_midpoint": [ + 0.15746305829650017, + 0.21981658408207516, + 1.1614604735986336 + ], + "object_minus_finger_midpoint": [ + 0.004589265935623116, + 0.011446880764267087, + 0.0 + ], + "finger_gap": 0.024665152832222134, + "fingertip_max_gap": 0.09153607844928069, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012332576416111053, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614604735986336, + "object_top_z": 1.211722630711022, + "finger_top_clearance": 0.05026215711238846, + "fingertip_min_top_clearance": 0.015078647133716504, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012332576416111053, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826803922464035, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9672352943362912, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3104136245801935, + -0.38383484242565535, + 0.8515395672545468 + ], + "target_position": [ + 0.3053850475891697, + -0.38418940629751547, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005041061603857135, + "xy_threshold": 0.08, + "gripper_dist": 0.18226058080821467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395672545468, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07555195304302856, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08718509707330656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15010769612162858, + "release_required_pad_clearance": 0.05359254853665328, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.195784324996056, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00856095552444458, + "max_z_decrease": 0.00856095552444458, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499078394749619, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00856095552444458, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02087797986903157, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00856095552444458, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008561134999146385, + "max_button_displacement": 0.12, + "button_start": [ + 0.16108497977256778, + -0.44045087695121765, + 0.7768088579177856 + ], + "button_final": [ + 0.16108497977256778, + -0.44045087695121765, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1602289653784646, + -0.4403260382793724, + 0.8032292443398447 + ], + "closest_button": [ + 0.1610356718301773, + -0.4404255449771881, + 0.7682479023933411 + ], + "closest_ee_minus_button": [ + -0.0008067064517127132, + 9.950669781572108e-05, + 0.0349813419465036 + ], + "button_min_z_position": [ + 0.1610356718301773, + -0.4404255449771881, + 0.7682479023933411 + ], + "min_active_finger_to_button": 0.14649247282591335, + "closest_active_finger": [ + 0.03277238458395004, + -0.5023522973060608, + 0.8104518055915833 + ], + "closest_active_finger_button": [ + 0.16108158230781558, + -0.44045332074165344, + 0.7763151526451111 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12830919772386554, + -0.06189897656440735, + 0.03413665294647217 + ], + "min_contact_pad_to_button": 0.02087797986903157, + "closest_contact_pad": [ + 0.1610356718301773, + -0.4415928096752836, + 0.7890932264861986 + ], + "closest_contact_pad_button": [ + 0.1610356718301773, + -0.4404255449771881, + 0.7682479023933411 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011672646980954715, + 0.020845324092857553 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0527a2536ecb6b1ea6b097bd417a46210a653d928c961bc03553c43d23d5e065", + "visual_seed": 2954840391715747791, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a538258955438ace41f877456bdc6fc1ddf4485a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_4_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23511067838539357, + -0.05091325033162334, + 0.9978118307720034 + ], + "current_z": 0.9978118307720034, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1412252041541483, + "gripper_z": 1.0006907608236761, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23072835030082728, + -0.05535578212161306, + 1.0006907608236761 + ], + "object_minus_gripper": [ + 0.004382328084566289, + 0.004442531789989719, + -0.0028789300516727234 + ], + "object_to_gripper_xy": 0.00624026346766286, + "object_to_gripper_z": -0.0028789300516727234, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23511067838539357, + -0.07484846299424851, + 0.9978118307720034 + ], + "finger_b": [ + 0.2241137376217767, + -0.05091325033162334, + 0.9978118307720034 + ], + "finger_midpoint": [ + 0.22961220800358512, + -0.06288085666293593, + 0.9978118307720034 + ], + "object_minus_finger_midpoint": [ + 0.005498470381808451, + 0.011967606331312587, + 0.0 + ], + "finger_gap": 0.026340598158804036, + "fingertip_max_gap": 0.09285829446111468, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013170299079402028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978118307720034, + "object_top_z": 1.0437250581136175, + "finger_top_clearance": 0.04591322734161407, + "fingertip_min_top_clearance": 0.013773968202484204, + "object_projection_between_fingers": 0.8257019592087901, + "object_to_finger_line_xy": 0.009992715967518205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892914723055734, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8695272284547022, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16001070160526842, + 0.2362557407186933, + 0.7611063292008315 + ], + "gripper_position": [ + 0.16287135258808608, + 0.199337231655909, + 1.0176277955275068 + ], + "target_minus_gripper": [ + -0.002860650982817653, + 0.036918509062784294, + -0.2565214663266753 + ], + "held_position": [ + 0.16733417092560832, + 0.20358561154970645, + 1.0145840328949622 + ], + "held_minus_target": [ + 0.007323469320339893, + -0.032670129168986844, + 0.2534777036941307 + ], + "held_minus_gripper": [ + 0.00446281833752224, + 0.004248379893797449, + -0.0030437626325445777 + ], + "xy_dist": 0.03702917276235565, + "held_xy_dist": 0.0334808981779797, + "held_gripper_dist": 0.006872406434359212, + "max_held_gripper_dist": 0.006877641031916718, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.0145840328949622, + "required_height": 0.7911063292008316, + "gripper_z": 1.0176277955275068, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16793720042733, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5460249864183724, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0140921095896998, + "max_source_tilt_deg": 89.77464556580075, + "source_upright_tilt_deg": 1.9278114475660424, + "max_source_upright_tilt_deg": 89.6631488297567, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0140921095896998, + "source_upright_return_tilt_deg": 1.9278114475660424, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.541398640621973e-08, + "max_target_xy_drift": 1.2818463544611077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.16, + 0.2363, + 0.7611 + ], + "controller_target_position": [ + 0.16, + 0.2363, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0007, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.1596, + 0.2116, + 1.0263 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0639, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00043019790515079264, + 0.0007143608698868139, + -0.00017525455771936387 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9277760032721452, + "source_return_step_error_deg": 2.014055934999532, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0085226309118687, + "source_return_best_wrist_position": -1.6094077825546265, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094077825546265 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.16, + 0.2363, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.16, + 0.2363, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0007, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1596, + 0.2116, + 1.0263 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0639, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00043019790515079264, + 0.0007143608698868139, + -0.00017525455771936387 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9277760032721452, + "pour_controller_source_return_step_error_deg": 2.014055934999532, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0085226309118687, + "pour_controller_source_return_best_wrist_position": -1.6094077825546265, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094077825546265, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03702917276235565, + "valid_pour_held_xy_dist": 0.0334808981779797, + "valid_pour_held_gripper_dist": 0.006872406434359212, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.0145840328949622, + "valid_pour_source_tilt_deg": 2.0140921095896998, + "valid_pour_source_upright_tilt_deg": 1.9278114475660424, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.541398640621973e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16733417092560832, + 0.1798447207219001, + 1.0145840328949622 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1567600154305461, + 0.20358561154970645, + 1.0145840328949622 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1620470931780772, + 0.19171516613580328, + 1.0145840328949622 + ], + "valid_pour_held_grasp_object_position": [ + 0.16733417092560832, + 0.20358561154970645, + 1.0145840328949622 + ], + "valid_pour_held_grasp_finger_gap": 0.025989279746302583, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023878769108308395, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014309920287946754, + -0.9994340127402086, + 0.03044470987474012 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005468280279635364, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03341215573390327, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16733417092560832, + 0.1798447207219001, + 1.0145840328949622 + ], + "held_grasp_finger_b": [ + 0.1567600154305461, + 0.20358561154970645, + 1.0145840328949622 + ], + "held_grasp_midpoint": [ + 0.1620470931780772, + 0.19171516613580328, + 1.0145840328949622 + ], + "held_grasp_object_position": [ + 0.16733417092560832, + 0.20358561154970645, + 1.0145840328949622 + ], + "held_grasp_finger_gap": 0.025989279746302583, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023878769108308395, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014309920287946754, + -0.9994340127402086, + 0.03044470987474012 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005468280279635364, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03341215573390327, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2120347058685791, + -0.048024742635000346, + 0.7565936877784507 + ], + "target_position": [ + 0.21354573020430917, + -0.051178144713038366, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0034967326476216393, + "xy_threshold": 0.08, + "gripper_dist": 0.21611118247417754, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565936877784507, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525411592261626, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09034518702701609, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1885311384499546, + "release_required_pad_clearance": 0.05517259351350805, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.4371636539090895, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 266, + "max_placed_release_frames": 266 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1670237040742592, + 0.23134375964675252, + 1.16242120019032 + ], + "current_z": 1.16242120019032, + "required_z": 0.8611062695961867, + "initial_z": 0.7611062695961868, + "lift_margin": 0.3013149305941333, + "gripper_z": 1.1561296414070512, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16397192021371837, + 0.2274380982732313, + 1.1561296414070512 + ], + "object_minus_gripper": [ + 0.0030517838605408354, + 0.0039056613735212187, + 0.006291558783268814 + ], + "object_to_gripper_xy": 0.00495656892376906, + "object_to_gripper_z": 0.006291558783268814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1670237040742592, + 0.2079882696892233, + 1.16242120019032 + ], + "finger_b": [ + 0.15829731182651055, + 0.23134375964675252, + 1.16242120019032 + ], + "finger_midpoint": [ + 0.1626605079503849, + 0.2196660146679879, + 1.16242120019032 + ], + "object_minus_finger_midpoint": [ + 0.004363196123874313, + 0.011677744978764615, + 0.0 + ], + "finger_gap": 0.02493248549218101, + "fingertip_max_gap": 0.0914246390286465, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0124662427460905, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16242120019032, + "object_top_z": 1.2124655233094497, + "finger_top_clearance": 0.05004432311912965, + "fingertip_min_top_clearance": 0.015013296935738895, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.0124662427460905, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048212319514323254, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9463876876710643, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3057375546229659, + -0.3855807537013907, + 0.8515395919565218 + ], + "target_position": [ + 0.3002798784359123, + -0.38553624127834507, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0054578577041305785, + "xy_threshold": 0.08, + "gripper_dist": 0.18345747530795967, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395919565218, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562560485231624, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496541829619524, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15092109597499653, + "release_required_pad_clearance": 0.05248270914809762, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956463061055958, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00856471061706543, + "max_z_decrease": 0.00856471061706543, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507887276076962, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00856471061706543, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021113604575529563, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00856471061706543, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00856495491626897, + "max_button_displacement": 0.12, + "button_start": [ + 0.15597979724407196, + -0.4417977035045624, + 0.7768088579177856 + ], + "button_final": [ + 0.15597979724407196, + -0.4417977035045624, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15690820146685922, + -0.44391184296986896, + 0.8032434451762859 + ], + "closest_button": [ + 0.1559237688779831, + -0.4417653679847717, + 0.7682441473007202 + ], + "closest_ee_minus_button": [ + 0.0009844325888761218, + -0.002146474985097291, + 0.03499929787556566 + ], + "button_min_z_position": [ + 0.1559237688779831, + -0.4417653679847717, + 0.7682441473007202 + ], + "min_active_finger_to_button": 0.14472757358037341, + "closest_active_finger": [ + 0.01594121754169464, + -0.4289276897907257, + 0.8106299638748169 + ], + "closest_active_finger_button": [ + 0.1559755504131317, + -0.44179800152778625, + 0.776412844657898 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14003433287143707, + 0.012870311737060547, + 0.034217119216918945 + ], + "min_contact_pad_to_button": 0.021113604575529563, + "closest_contact_pad": [ + 0.1559237688779831, + -0.44498796014772407, + 0.7891103687584519 + ], + "closest_contact_pad_button": [ + 0.1559237688779831, + -0.4417653679847717, + 0.7682441473007202 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003222592162952398, + 0.02086622145773165 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb93f3e675c036bc6787fcfe40bb2f5ec62eee2bf74fbc060574135c59c7f3cf", + "visual_seed": 1108918848888265214, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..00a69cc60c0f2275300f4f2ea86cb6673c0242e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_50_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23083651162624136, + -0.04987729746320943, + 0.9954295800446249 + ], + "current_z": 0.9954295800446249, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.13884307263605922, + "gripper_z": 0.9983782668624626, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.226420857874037, + -0.05426199312004247, + 0.9983782668624626 + ], + "object_minus_gripper": [ + 0.004415653752204346, + 0.00438469565683304, + -0.0029486868178376646 + ], + "object_to_gripper_xy": 0.006222825247619191, + "object_to_gripper_z": -0.0029486868178376646, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23083651162624136, + -0.07394895850146267, + 0.9954295800446249 + ], + "finger_b": [ + 0.22007090984293243, + -0.04987729746320943, + 0.9954295800446249 + ], + "finger_midpoint": [ + 0.2254537107345869, + -0.06191312798233605, + 0.9954295800446249 + ], + "object_minus_finger_midpoint": [ + 0.005382800891654466, + 0.012035830519126621, + 0.0 + ], + "finger_gap": 0.02636935810552361, + "fingertip_max_gap": 0.09288083739818548, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013184679052761805, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954295800446249, + "object_top_z": 1.0413045950642443, + "finger_top_clearance": 0.045875015019619436, + "fingertip_min_top_clearance": 0.013762504505885847, + "object_projection_between_fingers": 0.8333222971396232, + "object_to_finger_line_xy": 0.009827539827233934, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04894041869909274, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8437714807072028, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1545844437565288, + 0.23032698591217465, + 0.7611063292008318 + ], + "gripper_position": [ + 0.15712572901708374, + 0.19426700038940975, + 1.0187791393228829 + ], + "target_minus_gripper": [ + -0.002541285260554943, + 0.036059985522764904, + -0.2576728101220511 + ], + "held_position": [ + 0.16152662668086734, + 0.19855546662632143, + 1.0156688631481727 + ], + "held_minus_target": [ + 0.006942182924338541, + -0.03177151928585323, + 0.25456253394734096 + ], + "held_minus_gripper": [ + 0.004400897663783598, + 0.0042884662369116755, + -0.003110276174710158 + ], + "xy_dist": 0.03614942166449594, + "held_xy_dist": 0.032521121467229894, + "held_gripper_dist": 0.006887137344005634, + "max_held_gripper_dist": 0.006890989395494931, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008318, + "held_z": 1.0156688631481727, + "required_height": 0.7911063292008318, + "gripper_z": 1.0187791393228829, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17871523893761, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.054872818600041, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.868561896295399, + "max_source_tilt_deg": 89.64430226277841, + "source_upright_tilt_deg": 2.7702477505233345, + "max_source_upright_tilt_deg": 89.71663628031149, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.868561896295399, + "source_upright_return_tilt_deg": 2.7702477505233345, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.1638178938488147e-07, + "max_target_xy_drift": 2.2351741790771484e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1546, + 0.2303, + 0.7611 + ], + "controller_target_position": [ + 0.1546, + 0.2303, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0007, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1531, + 0.2057, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0685, + 0.0654, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014648656592967792, + 0.0006671390805017335, + 0.001824701423734716 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.7702134541443812, + "source_return_step_error_deg": 1.8685108538088202, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7740431745543837, + "source_return_best_wrist_position": -1.6092501878738403, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092501878738403 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1546, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1546, + 0.2303, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0007, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1531, + 0.2057, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0685, + 0.0654, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014648656592967792, + 0.0006671390805017335, + 0.001824701423734716 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.7702134541443812, + "pour_controller_source_return_step_error_deg": 1.8685108538088202, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7740431745543837, + "pour_controller_source_return_best_wrist_position": -1.6092501878738403, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092501878738403, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03614942166449594, + "valid_pour_held_xy_dist": 0.032521121467229894, + "valid_pour_held_gripper_dist": 0.006887137344005634, + "valid_pour_required_height": 0.7911063292008318, + "valid_pour_held_z": 1.0156688631481727, + "valid_pour_source_tilt_deg": 1.868561896295399, + "valid_pour_source_upright_tilt_deg": 2.7702477505233345, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.1638178938488147e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16152662668086734, + 0.1750351578388327, + 1.0156688631481727 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15065806060538933, + 0.19855546662632143, + 1.0156688631481727 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15609234364312835, + 0.18679531223257706, + 1.0156688631481727 + ], + "valid_pour_held_grasp_object_position": [ + 0.16152662668086734, + 0.19855546662632143, + 1.0156688631481727 + ], + "valid_pour_held_grasp_finger_gap": 0.025910049285863025, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023891279848356466, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03666145283488067, + -0.9988313775155109, + 0.03149312887762789 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005873264830846599, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03365304246419146, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16152662668086734, + 0.1750351578388327, + 1.0156688631481727 + ], + "held_grasp_finger_b": [ + 0.15065806060538933, + 0.19855546662632143, + 1.0156688631481727 + ], + "held_grasp_midpoint": [ + 0.15609234364312835, + 0.18679531223257706, + 1.0156688631481727 + ], + "held_grasp_object_position": [ + 0.16152662668086734, + 0.19855546662632143, + 1.0156688631481727 + ], + "held_grasp_finger_gap": 0.025910049285863025, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023891279848356466, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03666145283488067, + -0.9988313775155109, + 0.03149312887762789 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005873264830846599, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03365304246419146, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2119541513363942, + -0.0516805200244736, + 0.7565868126859291 + ], + "target_position": [ + 0.20934670804915545, + -0.0511511293412715, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002660641838284061, + "xy_threshold": 0.08, + "gripper_dist": 0.21849743100233346, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868126859291, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753082145690574, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08722132158727088, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18977779084677582, + "release_required_pad_clearance": 0.05361066079363544, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2314973403862943, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 236, + "max_placed_release_frames": 236 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16160960764355992, + 0.2281089453241377, + 1.1627083598543315 + ], + "current_z": 1.1627083598543315, + "required_z": 0.8611063292008319, + "initial_z": 0.7611063292008319, + "lift_margin": 0.30160203065349966, + "gripper_z": 1.1565122933117535, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1587907942334635, + 0.22411362988571154, + 1.1565122933117535 + ], + "object_minus_gripper": [ + 0.0028188134100964046, + 0.003995315438426156, + 0.006196066542577983 + ], + "object_to_gripper_xy": 0.004889606783113107, + "object_to_gripper_z": 0.006196066542577983, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16160960764355992, + 0.205158366368805, + 1.1627083598543315 + ], + "finger_b": [ + 0.15241403105799797, + 0.2281089453241377, + 1.1627083598543315 + ], + "finger_midpoint": [ + 0.15701181935077896, + 0.21663365584647135, + 1.1627083598543315 + ], + "object_minus_finger_midpoint": [ + 0.004597788292780958, + 0.01147528947766635, + 0.0 + ], + "finger_gap": 0.024724233115020883, + "fingertip_max_gap": 0.0917503235614498, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012362116557510437, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627083598543315, + "object_top_z": 1.213064593991055, + "finger_top_clearance": 0.05035623413672341, + "fingertip_min_top_clearance": 0.015106870241017022, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012362116557510437, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483751617807249, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1386194815122033, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3102952442814198, + -0.3785552268626885, + 0.8515395609819153 + ], + "target_position": [ + 0.3043326575208262, + -0.3792570020837966, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006003742944078065, + "xy_threshold": 0.08, + "gripper_dist": 0.18357310392314785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395609819153, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553616798300475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08528537402672041, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15150628445701772, + "release_required_pad_clearance": 0.05264268701336021, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.34491702933305085, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008392155170440674, + "max_z_decrease": 0.008392155170440674, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503634324722157, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008392155170440674, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021036942229470588, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008392155170440674, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008392724008761326, + "max_button_displacement": 0.12, + "button_start": [ + 0.16003258526325229, + -0.4355184733867646, + 0.7768088579177856 + ], + "button_final": [ + 0.16003258526325229, + -0.4355184733867646, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1601552638729026, + -0.4371561486879771, + 0.8037769155022084 + ], + "closest_button": [ + 0.15994520485401154, + -0.4354953169822693, + 0.7687805891036987 + ], + "closest_ee_minus_button": [ + 0.00021005901889106782, + -0.0016608317057077993, + 0.03499632639850969 + ], + "button_min_z_position": [ + 0.1599379926919937, + -0.43549397587776184, + 0.768416702747345 + ], + "min_active_finger_to_button": 0.14552476321363259, + "closest_active_finger": [ + 0.0191376730799675, + -0.4229743480682373, + 0.8107959628105164 + ], + "closest_active_finger_button": [ + 0.16002780199050903, + -0.43551912903785706, + 0.7765898704528809 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14089012891054153, + 0.012544780969619751, + 0.0342060923576355 + ], + "min_contact_pad_to_button": 0.021036942229470588, + "closest_contact_pad": [ + 0.1599379926919937, + -0.4381525752654592, + 0.7892849750203871 + ], + "closest_contact_pad_button": [ + 0.1599379926919937, + -0.43549397587776184, + 0.768416702747345 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002658599387697358, + 0.02086827227304211 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cab1e1d5b6eefc3a7d4061d50f60d304d728f6a22df293a740a2bebb0c7cf46b", + "visual_seed": 1499034602391522521, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c51c48c98b1252ece7353df7bcae3b7d30ef4c03 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_51_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23611254800433862, + -0.05418491944790698, + 0.9971522717718644 + ], + "current_z": 0.9971522717718644, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14056576436329882, + "gripper_z": 1.0001884976938162, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23167594533254338, + -0.05860299315849192, + 1.0001884976938162 + ], + "object_minus_gripper": [ + 0.004436602671795242, + 0.00441807371058494, + -0.0030362259219518517 + ], + "object_to_gripper_xy": 0.006261215423505444, + "object_to_gripper_z": -0.0030362259219518517, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23611254800433862, + -0.07823280790022843, + 0.9971522717718644 + ], + "finger_b": [ + 0.22524687428168488, + -0.05418491944790698, + 0.9971522717718644 + ], + "finger_midpoint": [ + 0.23067971114301175, + -0.06620886367406771, + 0.9971522717718644 + ], + "object_minus_finger_midpoint": [ + 0.005432836861326867, + 0.01202394422616073, + 0.0 + ], + "finger_gap": 0.02638870600204685, + "fingertip_max_gap": 0.09333929038336161, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013194353001023429, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971522717718644, + "object_top_z": 1.042985743349045, + "finger_top_clearance": 0.04583347157718065, + "fingertip_min_top_clearance": 0.013750041473154211, + "object_projection_between_fingers": 0.8304580670468609, + "object_to_finger_line_xy": 0.009901831094765686, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04916964519168081, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.33465398100725, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15744807440895642, + 0.23940219541058008, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16121780800213717, + 0.20182124003962848, + 1.0174177444870687 + ], + "target_minus_gripper": [ + -0.003769733593180752, + 0.0375809553709516, + -0.25631135568159225 + ], + "held_position": [ + 0.16565866729821438, + 0.20611924723480274, + 1.0142166738313825 + ], + "held_minus_target": [ + 0.008210592889257962, + -0.033282948175777344, + 0.25311028502590605 + ], + "held_minus_gripper": [ + 0.00444085929607721, + 0.004298007195174258, + -0.0032010706556862 + ], + "xy_dist": 0.037769552525241966, + "held_xy_dist": 0.03428073037239163, + "held_gripper_dist": 0.006959953338925509, + "max_held_gripper_dist": 0.006964043446511052, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0142166738313825, + "required_height": 0.7911063888054765, + "gripper_z": 1.0174177444870687, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1808325975803, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.446652901222385, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9150493986712598, + "max_source_tilt_deg": 89.92182917710808, + "source_upright_tilt_deg": 3.034515857666696, + "max_source_upright_tilt_deg": 89.83859262091133, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9150493986712598, + "source_upright_return_tilt_deg": 3.034515857666696, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1574, + 0.2394, + 0.7611 + ], + "controller_target_position": [ + 0.1574, + 0.2394, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0002, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.1586, + 0.2139, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0688, + 0.0658, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001150838899221991, + -0.0001538733561355938, + 0.0001240374621687703 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0345199905903777, + "source_return_step_error_deg": 1.9150527363446725, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.037401550696947, + "source_return_best_wrist_position": -1.6099607944488525, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099607944488525 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1574, + 0.2394, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1574, + 0.2394, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0002, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1586, + 0.2139, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0688, + 0.0658, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001150838899221991, + -0.0001538733561355938, + 0.0001240374621687703 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0345199905903777, + "pour_controller_source_return_step_error_deg": 1.9150527363446725, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.037401550696947, + "pour_controller_source_return_best_wrist_position": -1.6099607944488525, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099607944488525, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037769552525241966, + "valid_pour_held_xy_dist": 0.03428073037239163, + "valid_pour_held_gripper_dist": 0.006959953338925509, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0142166738313825, + "valid_pour_source_tilt_deg": 1.9150493986712598, + "valid_pour_source_upright_tilt_deg": 3.034515857666696, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16565866729821438, + 0.18257316297587026, + 1.0142166738313825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15478883142894131, + 0.20611924723480274, + 1.0142166738313825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16022374936357786, + 0.1943462051053365, + 1.0142166738313825 + ], + "valid_pour_held_grasp_object_position": [ + 0.16565866729821438, + 0.20611924723480274, + 1.0142166738313825 + ], + "valid_pour_held_grasp_finger_gap": 0.025933981872317317, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02396409134978302, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04149304620857836, + -0.9985978343239663, + 0.03287388629014132 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005931134868719739, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033669201892922676, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16565866729821438, + 0.18257316297587026, + 1.0142166738313825 + ], + "held_grasp_finger_b": [ + 0.15478883142894131, + 0.20611924723480274, + 1.0142166738313825 + ], + "held_grasp_midpoint": [ + 0.16022374936357786, + 0.1943462051053365, + 1.0142166738313825 + ], + "held_grasp_object_position": [ + 0.16565866729821438, + 0.20611924723480274, + 1.0142166738313825 + ], + "held_grasp_finger_gap": 0.025933981872317317, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02396409134978302, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04149304620857836, + -0.9985978343239663, + 0.03287388629014132 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005931134868719739, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033669201892922676, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21814899053237666, + -0.05421295648190096, + 0.7565865525769617 + ], + "target_position": [ + 0.2143191621421976, + -0.05682641862402812, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004636568760037255, + "xy_threshold": 0.08, + "gripper_dist": 0.21876816348716624, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865525769617, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537268287961302, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08978192102721587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19024243550672423, + "release_required_pad_clearance": 0.054890960513607936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.844894181269752, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1643971258862661, + 0.2358870146754715, + 1.1617751881116678 + ], + "current_z": 1.1617751881116678, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3006687993061913, + "gripper_z": 1.155454631455725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.161437261371036, + 0.23195658542184433, + 1.155454631455725 + ], + "object_minus_gripper": [ + 0.0029598645152300873, + 0.00393042925362716, + 0.006320556655942777 + ], + "object_to_gripper_xy": 0.004920271543958361, + "object_to_gripper_z": 0.006320556655942777, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1643971258862661, + 0.21269287966122113, + 1.1617751881116678 + ], + "finger_b": [ + 0.15549488388636523, + 0.2358870146754715, + 1.1617751881116678 + ], + "finger_midpoint": [ + 0.15994600488631566, + 0.22428994716834633, + 1.1617751881116678 + ], + "object_minus_finger_midpoint": [ + 0.004451120999950431, + 0.011597067507125164, + 0.0 + ], + "finger_gap": 0.02484386869398712, + "fingertip_max_gap": 0.09134483034801535, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012421934346993546, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617751881116678, + "object_top_z": 1.211893512563034, + "finger_top_clearance": 0.0501183244513661, + "fingertip_min_top_clearance": 0.01503549733540983, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012421934346993546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817241517400768, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8241382464663237, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31141640222087574, + -0.3792430014831444, + 0.8515394959997158 + ], + "target_position": [ + 0.3062360712484332, + -0.3795057316770459, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005186989120755397, + "xy_threshold": 0.08, + "gripper_dist": 0.18151646091968085, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515394959997158, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753478966804479, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08700354994203129, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14999463593823198, + "release_required_pad_clearance": 0.053501774971015645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0158843907829653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008453309535980225, + "max_z_decrease": 0.008453309535980225, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499474740904812, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008453309535980225, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020917899628410053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008453309535980225, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008453533384552844, + "max_button_displacement": 0.12, + "button_start": [ + 0.1619359999895095, + -0.43576720356941223, + 0.7768088579177856 + ], + "button_final": [ + 0.1619359999895095, + -0.43576720356941223, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1615901307894125, + -0.4359947458078685, + 0.803348283854878 + ], + "closest_button": [ + 0.1618763655424117, + -0.43575209379196167, + 0.7683555483818054 + ], + "closest_ee_minus_button": [ + -0.0002862347529991871, + -0.00024265201590684127, + 0.03499273547307258 + ], + "button_min_z_position": [ + 0.1618763655424117, + -0.43575209379196167, + 0.7683555483818054 + ], + "min_active_finger_to_button": 0.14611718771399274, + "closest_active_finger": [ + 0.020855769515037537, + -0.4191568195819855, + 0.8106614351272583 + ], + "closest_active_finger_button": [ + 0.1619330942630767, + -0.4357701241970062, + 0.7764354348182678 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14107732474803916, + 0.016613304615020752, + 0.03422600030899048 + ], + "min_contact_pad_to_button": 0.020917899628410053, + "closest_contact_pad": [ + 0.1618763655424117, + -0.4372324720590248, + 0.7892209984141111 + ], + "closest_contact_pad_button": [ + 0.1618763655424117, + -0.43575209379196167, + 0.7683555483818054 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014803782670631538, + 0.020865450032305666 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1ec50386be7964fce139535905368659fa89427943e0954b39ae7c3e269b539b", + "visual_seed": 6041834700508793769, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4fdff302083001adc9ffd99ab732c3efe38659a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_52_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23307272699397133, + -0.046593620277163385, + 0.9967504908508769 + ], + "current_z": 0.9967504908508769, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14016404304695607, + "gripper_z": 0.9997471632918054, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22849083251411395, + -0.05114572562058972, + 0.9997471632918054 + ], + "object_minus_gripper": [ + 0.004581894479857379, + 0.004552105343426337, + -0.002996672440928494 + ], + "object_to_gripper_xy": 0.006458747562972107, + "object_to_gripper_z": -0.002996672440928494, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23307272699397133, + -0.07062820325320351, + 0.9967504908508769 + ], + "finger_b": [ + 0.22186804185137, + -0.046593620277163385, + 0.9967504908508769 + ], + "finger_midpoint": [ + 0.22747038442267065, + -0.058610911765183446, + 0.9967504908508769 + ], + "object_minus_finger_midpoint": [ + 0.005602342571300684, + 0.012017291488020061, + 0.0 + ], + "finger_gap": 0.026518034391277746, + "fingertip_max_gap": 0.09291939216526304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013259017195638875, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9967504908508769, + "object_top_z": 1.0426100952026032, + "finger_top_clearance": 0.04585960435172631, + "fingertip_min_top_clearance": 0.013757881305517894, + "object_projection_between_fingers": 0.8214677594813358, + "object_to_finger_line_xy": 0.0101553505364196, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048959696082631524, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9158574312697403, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15549065787453265, + 0.23201564510330625, + 0.7611064484101213 + ], + "gripper_position": [ + 0.15896250154840097, + 0.19342662514054296, + 1.0171672848258277 + ], + "target_minus_gripper": [ + -0.0034718436738683245, + 0.03858901996276329, + -0.2560608364157064 + ], + "held_position": [ + 0.16362397890258285, + 0.19778045932713753, + 1.0140016051319083 + ], + "held_minus_target": [ + 0.0081333210280502, + -0.034235185776168714, + 0.252895156721787 + ], + "held_minus_gripper": [ + 0.0046614773541818755, + 0.004353834186594574, + -0.0031656796939194543 + ], + "xy_dist": 0.038744885600325664, + "held_xy_dist": 0.035188049904393795, + "held_gripper_dist": 0.007120868709111555, + "max_held_gripper_dist": 0.007147360510027115, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0140016051319083, + "required_height": 0.7911064484101213, + "gripper_z": 1.0171672848258277, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17879720120764, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5825952627087185, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9709807015472487, + "max_source_tilt_deg": 89.77188843180002, + "source_upright_tilt_deg": 2.0380437864929, + "max_source_upright_tilt_deg": 89.67402902323943, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9709807015472487, + "source_upright_return_tilt_deg": 2.0380437864929, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.341104507446289e-07, + "max_target_xy_drift": 1.8671101460071903e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1555, + 0.232, + 0.7611 + ], + "controller_target_position": [ + 0.1555, + 0.232, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0015, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.1548, + 0.2052, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0641, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006692436237321169, + -0.0014760852743394863, + -0.0002618823497218506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.0380317466312623, + "source_return_step_error_deg": 1.9709653979471553, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.039458570232993, + "source_return_best_wrist_position": -1.6092815399169922, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092815399169922 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1555, + 0.232, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1555, + 0.232, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0015, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1548, + 0.2052, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0641, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006692436237321169, + -0.0014760852743394863, + -0.0002618823497218506 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.0380317466312623, + "pour_controller_source_return_step_error_deg": 1.9709653979471553, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.039458570232993, + "pour_controller_source_return_best_wrist_position": -1.6092815399169922, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092815399169922, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038744885600325664, + "valid_pour_held_xy_dist": 0.035188049904393795, + "valid_pour_held_gripper_dist": 0.007120868709111555, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0140016051319083, + "valid_pour_source_tilt_deg": 1.9709807015472487, + "valid_pour_source_upright_tilt_deg": 2.0380437864929, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.341104507446289e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16362397890258285, + 0.17394709417361498, + 1.0140016051319083 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15281939671185646, + 0.19778045932713753, + 1.0140016051319083 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15822168780721965, + 0.18586377675037624, + 1.0140016051319083 + ], + "valid_pour_held_grasp_object_position": [ + 0.16362397890258285, + 0.19778045932713753, + 1.0140016051319083 + ], + "valid_pour_held_grasp_finger_gap": 0.026168077706574183, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023993035237679015, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016173329128079266, + -0.9993674422554925, + 0.031672366261929034 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005606941235312789, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033378453410833266, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16362397890258285, + 0.17394709417361498, + 1.0140016051319083 + ], + "held_grasp_finger_b": [ + 0.15281939671185646, + 0.19778045932713753, + 1.0140016051319083 + ], + "held_grasp_midpoint": [ + 0.15822168780721965, + 0.18586377675037624, + 1.0140016051319083 + ], + "held_grasp_object_position": [ + 0.16362397890258285, + 0.19778045932713753, + 1.0140016051319083 + ], + "held_grasp_finger_gap": 0.026168077706574183, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023993035237679015, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016173329128079266, + -0.9993674422554925, + 0.031672366261929034 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005606941235312789, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033378453410833266, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21523557934924212, + -0.051759627060345, + 0.7565862737319287 + ], + "target_position": [ + 0.2113750693892649, + -0.04953852008750174, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004453858252784466, + "xy_threshold": 0.08, + "gripper_dist": 0.2159661409666189, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862737319287, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568052675965924, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09177404708126895, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18603550449838363, + "release_required_pad_clearance": 0.055887023540634476, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.9885911568078525, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16246814761591788, + 0.22665790071079758, + 1.1608283022121495 + ], + "current_z": 1.1608283022121495, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.2997217941973833, + "gripper_z": 1.1545001715339962, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15968409790627425, + 0.22274066797918593, + 1.1545001715339962 + ], + "object_minus_gripper": [ + 0.0027840497096436323, + 0.003917232731611653, + 0.006328130678153299 + ], + "object_to_gripper_xy": 0.0048057928648014454, + "object_to_gripper_z": 0.006328130678153299, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16246814761591788, + 0.20370092327461173, + 1.1608283022121495 + ], + "finger_b": [ + 0.15342415483329308, + 0.22665790071079758, + 1.1608283022121495 + ], + "finger_midpoint": [ + 0.15794615122460548, + 0.21517941199270466, + 1.1608283022121495 + ], + "object_minus_finger_midpoint": [ + 0.0045219963913123995, + 0.011478488718092927, + 0.0 + ], + "finger_gap": 0.024674209581214874, + "fingertip_max_gap": 0.09134263394387254, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012337104790607437, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608283022121495, + "object_top_z": 1.2110514058826196, + "finger_top_clearance": 0.050223103670470115, + "fingertip_min_top_clearance": 0.015066931101141033, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012337104790607437, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817131697193627, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7605229050127607, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3055535262423398, + -0.3834065591673965, + 0.851539581901702 + ], + "target_position": [ + 0.300263388912888, + -0.38412720310744425, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005338996221462105, + "xy_threshold": 0.08, + "gripper_dist": 0.18315603450150553, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539581901702, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578675475266208, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559584869491109, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15046818397840286, + "release_required_pad_clearance": 0.052797924347455547, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6428508318167716, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008471548557281494, + "max_z_decrease": 0.008471548557281494, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500482062684014, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008471548557281494, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020908459570072476, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008471548557281494, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847177861753565, + "max_button_displacement": 0.12, + "button_start": [ + 0.15596331655979156, + -0.44038864970207214, + 0.7768088579177856 + ], + "button_final": [ + 0.15596331655979156, + -0.44038864970207214, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15627317697640153, + -0.44050755595503926, + 0.8033399092780351 + ], + "closest_button": [ + 0.15590426325798035, + -0.44036838412284846, + 0.7683373093605042 + ], + "closest_ee_minus_button": [ + 0.00036891371842118215, + -0.00013917183219080975, + 0.03500259991753096 + ], + "button_min_z_position": [ + 0.15590426325798035, + -0.44036838412284846, + 0.7683373093605042 + ], + "min_active_finger_to_button": 0.14549718625081592, + "closest_active_finger": [ + 0.01554475724697113, + -0.4235506057739258, + 0.8106210827827454 + ], + "closest_active_finger_button": [ + 0.15595969557762146, + -0.4403900206089019, + 0.7764229774475098 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14041493833065033, + 0.01683941483497614, + 0.034198105335235596 + ], + "min_contact_pad_to_button": 0.020908459570072476, + "closest_contact_pad": [ + 0.15590426325798035, + -0.4417572758351987, + 0.7891995877932334 + ], + "closest_contact_pad_button": [ + 0.15590426325798035, + -0.44036838412284846, + 0.7683373093605042 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013888917123502376, + 0.020862278432729253 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b8822288ca24872aea86ab2d8733eb8a79ab79e3adf21c0e3b51c48b870cf4dd", + "visual_seed": 492292960549999806, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c1978925e0d0da80f80fe84d6f57251b7e57509 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_53_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.240336304987133, + -0.05404061084472813, + 0.9972583070376992 + ], + "current_z": 0.9972583070376992, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1406717400244889, + "gripper_z": 0.9999857775119031, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23590646611781368, + -0.058533490329716525, + 0.9999857775119031 + ], + "object_minus_gripper": [ + 0.0044298388693193025, + 0.004492879484988395, + -0.0027274704742038525 + ], + "object_to_gripper_xy": 0.0063094721233049045, + "object_to_gripper_z": -0.0027274704742038525, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.240336304987133, + -0.07794340863300894, + 0.9972583070376992 + ], + "finger_b": [ + 0.22917184711287442, + -0.05404061084472813, + 0.9972583070376992 + ], + "finger_midpoint": [ + 0.2347540760500037, + -0.06599200973886854, + 0.9972583070376992 + ], + "object_minus_finger_midpoint": [ + 0.0055822289371292855, + 0.01195139889414041, + 0.0 + ], + "finger_gap": 0.026381600818250896, + "fingertip_max_gap": 0.09302350050167685, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013190800409125451, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9972583070376992, + "object_top_z": 1.0431233809956506, + "finger_top_clearance": 0.04586507395795136, + "fingertip_min_top_clearance": 0.013759522187385425, + "object_projection_between_fingers": 0.8209093184111682, + "object_to_finger_line_xy": 0.01011545056809312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049011750250838426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.066995599158159, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15711023528236956, + 0.23762554486259893, + 0.7611064484101213 + ], + "gripper_position": [ + 0.16116155091001105, + 0.19951811320553103, + 1.01682224021583 + ], + "target_minus_gripper": [ + -0.004051315627641494, + 0.0381074316570679, + -0.2557157918057087 + ], + "held_position": [ + 0.16566714099803823, + 0.2038320711379808, + 1.01393135887847 + ], + "held_minus_target": [ + 0.008556905715668667, + -0.033793473724618134, + 0.25282491046834865 + ], + "held_minus_gripper": [ + 0.004505590088027173, + 0.0043139579324497634, + -0.0028908813373600406 + ], + "xy_dist": 0.03832218033740868, + "held_xy_dist": 0.03485999859155618, + "held_gripper_dist": 0.006875155997573548, + "max_held_gripper_dist": 0.006878942023781261, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.01393135887847, + "required_height": 0.7911064484101213, + "gripper_z": 1.01682224021583, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17922067293618, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5302711037052739, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9215898642231686, + "max_source_tilt_deg": 89.9581793190408, + "source_upright_tilt_deg": 2.1037412154727013, + "max_source_upright_tilt_deg": 89.81968751598316, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9215898642231686, + "source_upright_return_tilt_deg": 2.1037412154727013, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 1.0536712127723508e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1571, + 0.2376, + 0.7611 + ], + "controller_target_position": [ + 0.1571, + 0.2376, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0006, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.1575, + 0.2116, + 1.0257 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.0643, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00036203066517385583, + -0.000614937972220115, + -0.0007877580369837784 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1037358602471103, + "source_return_step_error_deg": 1.921580296767384, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1045103036154673, + "source_return_best_wrist_position": -1.6097421646118164, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097421646118164 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1571, + 0.2376, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1571, + 0.2376, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0006, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1575, + 0.2116, + 1.0257 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.0643, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00036203066517385583, + -0.000614937972220115, + -0.0007877580369837784 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1037358602471103, + "pour_controller_source_return_step_error_deg": 1.921580296767384, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1045103036154673, + "pour_controller_source_return_best_wrist_position": -1.6097421646118164, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097421646118164, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03832218033740868, + "valid_pour_held_xy_dist": 0.03485999859155618, + "valid_pour_held_gripper_dist": 0.006875155997573548, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.01393135887847, + "valid_pour_source_tilt_deg": 1.9215898642231686, + "valid_pour_source_upright_tilt_deg": 2.1037412154727013, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16566714099803823, + 0.1801435521243703, + 1.01393135887847 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15489206837157812, + 0.2038320711379808, + 1.01393135887847 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16027960468480817, + 0.19198781163117556, + 1.01393135887847 + ], + "valid_pour_held_grasp_object_position": [ + 0.16566714099803823, + 0.2038320711379808, + 1.01393135887847 + ], + "valid_pour_held_grasp_finger_gap": 0.026023991299638793, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023885502319397945, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019763133382720156, + -0.9993260071797396, + 0.030934607369350713 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00563238641422123, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03347042300363703, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16566714099803823, + 0.1801435521243703, + 1.01393135887847 + ], + "held_grasp_finger_b": [ + 0.15489206837157812, + 0.2038320711379808, + 1.01393135887847 + ], + "held_grasp_midpoint": [ + 0.16027960468480817, + 0.19198781163117556, + 1.01393135887847 + ], + "held_grasp_object_position": [ + 0.16566714099803823, + 0.2038320711379808, + 1.01393135887847 + ], + "held_grasp_finger_gap": 0.026023991299638793, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023885502319397945, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019763133382720156, + -0.9993260071797396, + 0.030934607369350713 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00563238641422123, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03347042300363703, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22261718958201288, + -0.06000148291586272, + 0.7565863586937247 + ], + "target_position": [ + 0.21835722546801278, + -0.05539427927744892, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006274840206601434, + "xy_threshold": 0.08, + "gripper_dist": 0.21581948756839495, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863586937247, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548284798546774, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0885626428671089, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18572382397018689, + "release_required_pad_clearance": 0.05428132143355445, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.582443261977821, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 219, + "max_placed_release_frames": 219 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16409477620636767, + 0.2333444891586442, + 1.163218928360132 + ], + "current_z": 1.163218928360132, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30211253955465545, + "gripper_z": 1.1570816660445575, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16109040691015092, + 0.2294128074807093, + 1.1570816660445575 + ], + "object_minus_gripper": [ + 0.0030043692962167523, + 0.003931681677934895, + 0.006137262315574432 + ], + "object_to_gripper_xy": 0.004948166901455416, + "object_to_gripper_z": 0.006137262315574432, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16409477620636767, + 0.21003085341323485, + 1.163218928360132 + ], + "finger_b": [ + 0.15531127483748117, + 0.2333444891586442, + 1.163218928360132 + ], + "finger_midpoint": [ + 0.15970302552192442, + 0.22168767128593952, + 1.163218928360132 + ], + "object_minus_finger_midpoint": [ + 0.004391750684443252, + 0.011656817872704672, + 0.0 + ], + "finger_gap": 0.024913360029647936, + "fingertip_max_gap": 0.09139511285458249, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012456680014823968, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163218928360132, + "object_top_z": 1.2133819358333684, + "finger_top_clearance": 0.05016300747323643, + "fingertip_min_top_clearance": 0.015048902241970929, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012456680014823968, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819755642729125, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8315365473360723, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30994947332377554, + -0.38444414219879564, + 0.8515395633398377 + ], + "target_position": [ + 0.30573403985225533, + -0.38394749075049567, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004244589734463311, + "xy_threshold": 0.08, + "gripper_dist": 0.1816363666635128, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395633398377, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0751319014176449, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613492679317357, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1506056443277544, + "release_required_pad_clearance": 0.053067463396586786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1643096365802126, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008663356304168701, + "max_z_decrease": 0.008663356304168701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035041963359891425, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008663356304168701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021079471672022166, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008663356304168701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008663747795096545, + "max_button_displacement": 0.12, + "button_start": [ + 0.16143396496772772, + -0.44020894169807434, + 0.7768088579177856 + ], + "button_final": [ + 0.16143396496772772, + -0.44020894169807434, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1621930450474988, + -0.4415599996250372, + 0.8031503191667136 + ], + "closest_button": [ + 0.16135656833648684, + -0.44018077850341797, + 0.7681455016136169 + ], + "closest_ee_minus_button": [ + 0.0008364767110119464, + -0.0013792211216192563, + 0.0350048175530967 + ], + "button_min_z_position": [ + 0.16135656833648684, + -0.44018077850341797, + 0.7681455016136169 + ], + "min_active_finger_to_button": 0.14494794467913874, + "closest_active_finger": [ + 0.02164924144744873, + -0.42308202385902405, + 0.8105373978614807 + ], + "closest_active_finger_button": [ + 0.1614349037408829, + -0.44021308422088623, + 0.7762386798858643 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13978566229343417, + 0.017131060361862183, + 0.034298717975616455 + ], + "min_contact_pad_to_button": 0.021079471672022166, + "closest_contact_pad": [ + 0.16135656833648684, + -0.44294603923591513, + 0.7890428090730217 + ], + "closest_contact_pad_button": [ + 0.16135656833648684, + -0.44018077850341797, + 0.7681455016136169 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027652607324971656, + 0.020897307459404768 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "018f528ba7b93ccfb2ab251a70001b6e27a1d4d9e1a63f24569d001c6585d832", + "visual_seed": 7237825940953946317, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5a2ceae8b845ac86835700e19495780d53cf3f2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_54_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23449864482925248, + -0.049067913661414324, + 0.9950958040337083 + ], + "current_z": 0.9950958040337083, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13850935622978755, + "gripper_z": 0.997733483575284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23019278980236466, + -0.053428271287695714, + 0.997733483575284 + ], + "object_minus_gripper": [ + 0.004305855026887823, + 0.00436035762628139, + -0.002637679541575677 + ], + "object_to_gripper_xy": 0.006128058921195635, + "object_to_gripper_z": -0.002637679541575677, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23449864482925248, + -0.0730020316310216, + 0.9950958040337083 + ], + "finger_b": [ + 0.2236788025258421, + -0.049067913661414324, + 0.9950958040337083 + ], + "finger_midpoint": [ + 0.2290887236775473, + -0.06103497264621796, + 0.9950958040337083 + ], + "object_minus_finger_midpoint": [ + 0.005409921151705188, + 0.011967058984803637, + 0.0 + ], + "finger_gap": 0.026266156750726723, + "fingertip_max_gap": 0.09310972892118849, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013133078375363358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950958040337083, + "object_top_z": 1.0409899180718396, + "finger_top_clearance": 0.04589411403813126, + "fingertip_min_top_clearance": 0.013768234211439394, + "object_projection_between_fingers": 0.8303129112442841, + "object_to_finger_line_xy": 0.009859203406117118, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04905486446059425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9883443080206762, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16305354852337445, + 0.229739328818173, + 0.7611066272240558 + ], + "gripper_position": [ + 0.1660348119656823, + 0.19332412877591892, + 1.0186661023799228 + ], + "target_minus_gripper": [ + -0.002981263442307841, + 0.03641520004225407, + -0.2575594751558671 + ], + "held_position": [ + 0.17041869800270054, + 0.19750546947751685, + 1.0158691597351857 + ], + "held_minus_target": [ + 0.007365149479326094, + -0.032233859340656146, + 0.2547625325111299 + ], + "held_minus_gripper": [ + 0.004383886037018253, + 0.004181340701597924, + -0.002796942644737177 + ], + "xy_dist": 0.03653703225263133, + "held_xy_dist": 0.03306459004503191, + "held_gripper_dist": 0.006672702226710886, + "max_held_gripper_dist": 0.0066762347018205275, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240558, + "held_z": 1.0158691597351857, + "required_height": 0.7911066272240558, + "gripper_z": 1.0186661023799228, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16412595487046, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8746056468179126, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.049052349943016, + "max_source_tilt_deg": 89.95009041446936, + "source_upright_tilt_deg": 2.0497127882499044, + "max_source_upright_tilt_deg": 89.97803860415192, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.049052349943016, + "source_upright_return_tilt_deg": 2.0497127882499044, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.024520884654677e-08, + "max_target_xy_drift": 3.967740224508747e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1631, + 0.2297, + 0.7611 + ], + "controller_target_position": [ + 0.1631, + 0.2297, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.0008, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.1628, + 0.2053, + 1.0277 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.0642, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024691810897291863, + 0.0008326870094534666, + 0.001324559851721641 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.0496926074813286, + "source_return_step_error_deg": 2.049049150405858, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0519884378730393, + "source_return_best_wrist_position": -1.6087207794189453, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087207794189453 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1631, + 0.2297, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1631, + 0.2297, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.0008, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1628, + 0.2053, + 1.0277 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.0642, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024691810897291863, + 0.0008326870094534666, + 0.001324559851721641 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.0496926074813286, + "pour_controller_source_return_step_error_deg": 2.049049150405858, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0519884378730393, + "pour_controller_source_return_best_wrist_position": -1.6087207794189453, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087207794189453, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03653703225263133, + "valid_pour_held_xy_dist": 0.03306459004503191, + "valid_pour_held_gripper_dist": 0.006672702226710886, + "valid_pour_required_height": 0.7911066272240558, + "valid_pour_held_z": 1.0158691597351857, + "valid_pour_source_tilt_deg": 2.049052349943016, + "valid_pour_source_upright_tilt_deg": 2.0497127882499044, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.024520884654677e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17041869800270054, + 0.1737508619151961, + 1.0158691597351857 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1600124585688138, + 0.19750546947751685, + 1.0158691597351857 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16521557828575717, + 0.18562816569635648, + 1.0158691597351857 + ], + "valid_pour_held_grasp_object_position": [ + 0.17041869800270054, + 0.19750546947751685, + 1.0158691597351857 + ], + "valid_pour_held_grasp_finger_gap": 0.025933977704842077, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023919067665166726, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017264527778645487, + -0.9993601785720211, + 0.03132362630792762 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005420087116079207, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03342034994300499, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17041869800270054, + 0.1737508619151961, + 1.0158691597351857 + ], + "held_grasp_finger_b": [ + 0.1600124585688138, + 0.19750546947751685, + 1.0158691597351857 + ], + "held_grasp_midpoint": [ + 0.16521557828575717, + 0.18562816569635648, + 1.0158691597351857 + ], + "held_grasp_object_position": [ + 0.17041869800270054, + 0.19750546947751685, + 1.0158691597351857 + ], + "held_grasp_finger_gap": 0.025933977704842077, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023919067665166726, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017264527778645487, + -0.9993601785720211, + 0.03132362630792762 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005420087116079207, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03342034994300499, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21959552829585682, + -0.04994716156930228, + 0.7565863267478447 + ], + "target_position": [ + 0.21281953215055913, + -0.051893272666217766, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007049927103355526, + "xy_threshold": 0.08, + "gripper_dist": 0.21955381317010583, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863267478447, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528163532790229, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09017975715407821, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1908985529108426, + "release_required_pad_clearance": 0.055089878577039106, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.264796344141071, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1700228809323737, + 0.2239157772786836, + 1.1617741010025493 + ], + "current_z": 1.1617741010025493, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.30066753338313834, + "gripper_z": 1.1555370714543345, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16714913540402554, + 0.21997193622133485, + 1.1555370714543345 + ], + "object_minus_gripper": [ + 0.002873745528348154, + 0.00394384105734874, + 0.006237029548214812 + ], + "object_to_gripper_xy": 0.004879784385332065, + "object_to_gripper_z": 0.006237029548214812, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1700228809323737, + 0.2006931164699415, + 1.1617741010025493 + ], + "finger_b": [ + 0.16121193013668605, + 0.2239157772786836, + 1.1617741010025493 + ], + "finger_midpoint": [ + 0.16561740553452986, + 0.21230444687431255, + 1.1617741010025493 + ], + "object_minus_finger_midpoint": [ + 0.004405475397843833, + 0.01161133040437104, + 0.0 + ], + "finger_gap": 0.0248379715146369, + "fingertip_max_gap": 0.09172191115383782, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012418985757318453, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617741010025493, + "object_top_z": 1.2120305496288508, + "finger_top_clearance": 0.05025644862630152, + "fingertip_min_top_clearance": 0.015076934587890455, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012418985757318453, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836095557691891, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1192634298203803, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30796354704750495, + -0.3839950239899539, + 0.851539608235306 + ], + "target_position": [ + 0.3030970202090461, + -0.3844090782505007, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004884109376346639, + "xy_threshold": 0.08, + "gripper_dist": 0.18265786401789627, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539608235306, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758181163097319, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601857725629745, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14993711400335683, + "release_required_pad_clearance": 0.05300928862814873, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0512634150039437, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00863790512084961, + "max_z_decrease": 0.00863790512084961, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035067887437815685, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00863790512084961, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102984323292376, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00863790512084961, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00863837209002362, + "max_button_displacement": 0.12, + "button_start": [ + 0.15879695117473602, + -0.44067054986953735, + 0.7768088579177856 + ], + "button_final": [ + 0.15879695117473602, + -0.44067054986953735, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1602444787408229, + -0.4419400406193115, + 0.8031812278978174 + ], + "closest_button": [ + 0.15871255099773407, + -0.44063982367515564, + 0.768170952796936 + ], + "closest_ee_minus_button": [ + 0.001531927743088829, + -0.0013002169441558853, + 0.035010275100881394 + ], + "button_min_z_position": [ + 0.15871255099773407, + -0.44063982367515564, + 0.768170952796936 + ], + "min_active_finger_to_button": 0.1442961760493942, + "closest_active_finger": [ + 0.019522279500961304, + -0.4247526526451111, + 0.8104998469352722 + ], + "closest_active_finger_button": [ + 0.15879499912261963, + -0.4406729638576507, + 0.7762793898582458 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13927271962165833, + 0.015920311212539617, + 0.03422045707702637 + ], + "min_contact_pad_to_button": 0.02102984323292376, + "closest_contact_pad": [ + 0.15871255099773407, + -0.4432109011226994, + 0.7890430362377447 + ], + "closest_contact_pad_button": [ + 0.15871255099773407, + -0.44063982367515564, + 0.768170952796936 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002571077447543757, + 0.02087208344080871 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c909d16d7be378dfbf954b8cf07f7d65ea8176118e0af9cb8254a8dc9021146a", + "visual_seed": 3515883059801266338, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d97cdd486ffc0f29a76116bb5ed5673c5e178db8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_55_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2387424209566761, + -0.054196972274420475, + 0.9985668378040073 + ], + "current_z": 0.9985668378040073, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14198039000008655, + "gripper_z": 1.0012551166346728, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2346707077756409, + -0.05854949958692439, + 1.0012551166346728 + ], + "object_minus_gripper": [ + 0.004071713181035219, + 0.0043525273125039135, + -0.0026882788306654692 + ], + "object_to_gripper_xy": 0.0059601461588377576, + "object_to_gripper_z": -0.0026882788306654692, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2387424209566761, + -0.07772941514761181, + 0.9985668378040073 + ], + "finger_b": [ + 0.22763403165417265, + -0.054196972274420475, + 0.9985668378040073 + ], + "finger_midpoint": [ + 0.23318822630542438, + -0.06596319371101614, + 0.9985668378040073 + ], + "object_minus_finger_midpoint": [ + 0.0055541946512517315, + 0.011766221436595663, + 0.0 + ], + "finger_gap": 0.026022532168795312, + "fingertip_max_gap": 0.093550953697394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013011266084397653, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9985668378040073, + "object_top_z": 1.0443731125418476, + "finger_top_clearance": 0.04580627473784027, + "fingertip_min_top_clearance": 0.013741882421352098, + "object_projection_between_fingers": 0.8177770492443478, + "object_to_finger_line_xy": 0.01004543043615859, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049275476848697, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.665368000293932, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16002827007431603, + 0.23290396292671636, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16406138296301415, + 0.19495828857340308, + 1.0178300631538937 + ], + "target_minus_gripper": [ + -0.0040331128886981205, + 0.03794567435331328, + -0.25672367434841725 + ], + "held_position": [ + 0.16825585373719318, + 0.1990903116089605, + 1.0149853925155032 + ], + "held_minus_target": [ + 0.008227583662877153, + -0.03381365131775585, + 0.2538790037100268 + ], + "held_minus_gripper": [ + 0.004194470774179032, + 0.0041320230355574306, + -0.002844670638390445 + ], + "xy_dist": 0.038159405153915596, + "held_xy_dist": 0.03480023201601413, + "held_gripper_dist": 0.006539063425502156, + "max_held_gripper_dist": 0.006543109161336042, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0149853925155032, + "required_height": 0.7911063888054765, + "gripper_z": 1.0178300631538937, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17096297422964, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5141768100284578, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9024478506887468, + "max_source_tilt_deg": 89.95857244518528, + "source_upright_tilt_deg": 2.1084111815348314, + "max_source_upright_tilt_deg": 89.76443084594699, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9024478506887468, + "source_upright_return_tilt_deg": 2.1084111815348314, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.2818463544611077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.16, + 0.2329, + 0.7611 + ], + "controller_target_position": [ + 0.16, + 0.2329, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0012, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.1608, + 0.2063, + 1.0277 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0673, + 0.0643, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007561958996899227, + -0.001216840409680081, + 0.001231097135809731 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.108408278266375, + "source_return_step_error_deg": 1.902451551315421, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1085533133692236, + "source_return_best_wrist_position": -1.6091490983963013, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091490983963013 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.16, + 0.2329, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.16, + 0.2329, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0012, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1608, + 0.2063, + 1.0277 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0673, + 0.0643, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007561958996899227, + -0.001216840409680081, + 0.001231097135809731 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.108408278266375, + "pour_controller_source_return_step_error_deg": 1.902451551315421, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1085533133692236, + "pour_controller_source_return_best_wrist_position": -1.6091490983963013, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091490983963013, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038159405153915596, + "valid_pour_held_xy_dist": 0.03480023201601413, + "valid_pour_held_gripper_dist": 0.006539063425502156, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0149853925155032, + "valid_pour_source_tilt_deg": 1.9024478506887468, + "valid_pour_source_upright_tilt_deg": 2.1084111815348314, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16825585373719318, + 0.17555882218930574, + 1.0149853925155032 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15780909006418697, + 0.1990903116089605, + 1.0149853925155032 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1630324719006901, + 0.18732456689913313, + 1.0149853925155032 + ], + "valid_pour_held_grasp_object_position": [ + 0.16825585373719318, + 0.1990903116089605, + 1.0149853925155032 + ], + "valid_pour_held_grasp_finger_gap": 0.025746181572166512, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023714339417338227, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01902795353146188, + -0.9993230119965393, + 0.031487373319620364 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005458793660898638, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03354183579086578, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16825585373719318, + 0.17555882218930574, + 1.0149853925155032 + ], + "held_grasp_finger_b": [ + 0.15780909006418697, + 0.1990903116089605, + 1.0149853925155032 + ], + "held_grasp_midpoint": [ + 0.1630324719006901, + 0.18732456689913313, + 1.0149853925155032 + ], + "held_grasp_object_position": [ + 0.16825585373719318, + 0.1990903116089605, + 1.0149853925155032 + ], + "held_grasp_finger_gap": 0.025746181572166512, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023714339417338227, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01902795353146188, + -0.9993230119965393, + 0.031487373319620364 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005458793660898638, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03354183579086578, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2201981015169316, + -0.05870042737777714, + 0.7565863150213514 + ], + "target_position": [ + 0.21755295450245013, + -0.05424295502480612, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0051832289652031785, + "xy_threshold": 0.08, + "gripper_dist": 0.2166169620664813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863150213514, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549547281439148, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08577112351889983, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18646292559429414, + "release_required_pad_clearance": 0.05288556175944992, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8118010962883265, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 223, + "max_placed_release_frames": 223 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16706967894412286, + 0.22707092135336812, + 1.1613861815121633 + ], + "current_z": 1.1613861815121633, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.3002798523113317, + "gripper_z": 1.1551131776892865, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16417102460324087, + 0.22312851599823197, + 1.1551131776892865 + ], + "object_minus_gripper": [ + 0.00289865434088199, + 0.003942405355136153, + 0.006273003822876877 + ], + "object_to_gripper_xy": 0.004893338019401502, + "object_to_gripper_z": 0.006273003822876877, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16706967894412286, + 0.2040356587675634, + 1.1613861815121633 + ], + "finger_b": [ + 0.1580002609086372, + 0.22707092135336812, + 1.1613861815121633 + ], + "finger_midpoint": [ + 0.16253496992638003, + 0.21555329006046575, + 1.1613861815121633 + ], + "object_minus_finger_midpoint": [ + 0.004534709017742833, + 0.01151763129290237, + 0.0 + ], + "finger_gap": 0.02475636616911632, + "fingertip_max_gap": 0.09141365643918606, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012378183084558172, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613861815121633, + "object_top_z": 1.2116337020671868, + "finger_top_clearance": 0.05024752055502346, + "fingertip_min_top_clearance": 0.015074256166507038, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012378183084558172, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820682821959303, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8385477888319507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30710649762256415, + -0.3831739479319731, + 0.851539609091227 + ], + "target_position": [ + 0.30216168396266807, + -0.38336681283742996, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004948573431086144, + "xy_threshold": 0.08, + "gripper_dist": 0.18090679317169608, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539609091227, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549858698747901, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551646864302619, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14894263391125007, + "release_required_pad_clearance": 0.052758234321513095, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5664806095685209, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008400261402130127, + "max_z_decrease": 0.008400261402130127, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035021798452747756, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008400261402130127, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020890845519662565, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008400261402130127, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008400315410511236, + "max_button_displacement": 0.12, + "button_start": [ + 0.1578616052865982, + -0.4396282732486725, + 0.7768088579177856 + ], + "button_final": [ + 0.1578616052865982, + -0.4396282732486725, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15605337149775442, + -0.4396400532967602, + 0.8036668050217725 + ], + "closest_button": [ + 0.15782304108142853, + -0.43962076306343073, + 0.768689751625061 + ], + "closest_ee_minus_button": [ + -0.0017696695836741105, + -1.9290233329471995e-05, + 0.03497705339671142 + ], + "button_min_z_position": [ + 0.15783368051052094, + -0.43961697816848755, + 0.7684085965156555 + ], + "min_active_finger_to_button": 0.14736667989211075, + "closest_active_finger": [ + 0.02812446653842926, + -0.5006440877914429, + 0.8105752468109131 + ], + "closest_active_finger_button": [ + 0.1578571051359177, + -0.43963131308555603, + 0.7764604091644287 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12973263859748843, + -0.06101277470588684, + 0.034114837646484375 + ], + "min_contact_pad_to_button": 0.020890845519662565, + "closest_contact_pad": [ + 0.15783368051052094, + -0.4409933412997888, + 0.7892540528804656 + ], + "closest_contact_pad_button": [ + 0.15783368051052094, + -0.43961697816848755, + 0.7684085965156555 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013763631313012392, + 0.020845456364810055 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d6efd67b109f882677638d0eec9d9ba3e30734efcfeb92b7a6eb61c0aaa36cdb", + "visual_seed": 85227437941202652, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0e41fe68d69ac1d642f4025f93a89bcd1ddae8eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_57_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23271975330343117, + -0.05230184069118917, + 0.9966854317069149 + ], + "current_z": 0.9966854317069149, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14009886469370458, + "gripper_z": 0.999160840403637, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22843943664092317, + -0.05654075688134609, + 0.999160840403637 + ], + "object_minus_gripper": [ + 0.004280316662507999, + 0.00423891619015692, + -0.0024754086967220257 + ], + "object_to_gripper_xy": 0.006024078452221392, + "object_to_gripper_z": -0.0024754086967220257, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23271975330343117, + -0.07642017174740143, + 0.9966854317069149 + ], + "finger_b": [ + 0.22233842519015096, + -0.05230184069118917, + 0.9966854317069149 + ], + "finger_midpoint": [ + 0.22752908924679105, + -0.0643610062192953, + 0.9966854317069149 + ], + "object_minus_finger_midpoint": [ + 0.005190664056640121, + 0.012059165528106132, + 0.0 + ], + "finger_gap": 0.026257682044168233, + "fingertip_max_gap": 0.09347420575073709, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128841022084123, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9966854317069149, + "object_top_z": 1.042504200668722, + "finger_top_clearance": 0.04581876896180703, + "fingertip_min_top_clearance": 0.013745630688542093, + "object_projection_between_fingers": 0.8436877318251644, + "object_to_finger_line_xy": 0.0095355068972992, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049237102875368546, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2749163481690995, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15571301300186724, + 0.23902836997971016, + 0.7611065080147661 + ], + "gripper_position": [ + 0.15876409823050489, + 0.2024362445450457, + 1.018571877691007 + ], + "target_minus_gripper": [ + -0.0030510852286376455, + 0.036592125434664474, + -0.257465369676241 + ], + "held_position": [ + 0.1630467852475644, + 0.20657822811786397, + 1.0159377484469767 + ], + "held_minus_target": [ + 0.007333772245697173, + -0.03245014186184619, + 0.2548312404322106 + ], + "held_minus_gripper": [ + 0.004282687017059528, + 0.004141983572818281, + -0.002634129244030392 + ], + "xy_dist": 0.0367191062649764, + "held_xy_dist": 0.033268542532033187, + "held_gripper_dist": 0.006514297573633158, + "max_held_gripper_dist": 0.006519216651031467, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147661, + "held_z": 1.0159377484469767, + "required_height": 0.7911065080147661, + "gripper_z": 1.018571877691007, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16659165316084, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.059441265234982, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0408119325064704, + "max_source_tilt_deg": 89.97262700259873, + "source_upright_tilt_deg": 3.0761037042250177, + "max_source_upright_tilt_deg": 89.64520394913679, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0408119325064704, + "source_upright_return_tilt_deg": 3.0761037042250177, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 6.143906154658885e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1557, + 0.239, + 0.7611 + ], + "controller_target_position": [ + 0.1557, + 0.239, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0007, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.1559, + 0.2145, + 1.0277 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0689, + 0.066, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00021396665188485242, + 0.0007138855634660334, + 0.001297253032207611 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.076109867593551, + "source_return_step_error_deg": 2.0407956027473273, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.0822160465290795, + "source_return_best_wrist_position": -1.6094269752502441, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094269752502441 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1557, + 0.239, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1557, + 0.239, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0007, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1559, + 0.2145, + 1.0277 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0689, + 0.066, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00021396665188485242, + 0.0007138855634660334, + 0.001297253032207611 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.076109867593551, + "pour_controller_source_return_step_error_deg": 2.0407956027473273, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.0822160465290795, + "pour_controller_source_return_best_wrist_position": -1.6094269752502441, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094269752502441, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0367191062649764, + "valid_pour_held_xy_dist": 0.033268542532033187, + "valid_pour_held_gripper_dist": 0.006514297573633158, + "valid_pour_required_height": 0.7911065080147661, + "valid_pour_held_z": 1.0159377484469767, + "valid_pour_source_tilt_deg": 2.0408119325064704, + "valid_pour_source_upright_tilt_deg": 3.0761037042250177, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1630467852475644, + 0.18293617861777034, + 1.0159377484469767 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1526633749267651, + 0.20657822811786397, + 1.0159377484469767 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15785508008716476, + 0.19475720336781716, + 1.0159377484469767 + ], + "valid_pour_held_grasp_object_position": [ + 0.1630467852475644, + 0.20657822811786397, + 1.0159377484469767 + ], + "valid_pour_held_grasp_finger_gap": 0.02582172950162245, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024030326892341518, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04067470009278639, + -0.9985591474000242, + 0.035002827258650226 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005683038084215013, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03360740362037887, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1630467852475644, + 0.18293617861777034, + 1.0159377484469767 + ], + "held_grasp_finger_b": [ + 0.1526633749267651, + 0.20657822811786397, + 1.0159377484469767 + ], + "held_grasp_midpoint": [ + 0.15785508008716476, + 0.19475720336781716, + 1.0159377484469767 + ], + "held_grasp_object_position": [ + 0.1630467852475644, + 0.20657822811786397, + 1.0159377484469767 + ], + "held_grasp_finger_gap": 0.02582172950162245, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024030326892341518, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04067470009278639, + -0.9985591474000242, + 0.035002827258650226 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005683038084215013, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03360740362037887, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2093695394717078, + -0.060572960894459835, + 0.7565862525595957 + ], + "target_position": [ + 0.21102381221029692, + -0.0551921705411968, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005629344821505222, + "xy_threshold": 0.08, + "gripper_dist": 0.2158217176050798, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862525595957, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755973847001194, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08836431419328823, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1859106470912728, + "release_required_pad_clearance": 0.05418215709664412, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3802989157246266, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16259291608379084, + 0.23484918931017296, + 1.163276533204231 + ], + "current_z": 1.163276533204231, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30216990598017535, + "gripper_z": 1.1569053398883082, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1598525973356249, + 0.23093498541675622, + 1.1569053398883082 + ], + "object_minus_gripper": [ + 0.0027403187481659375, + 0.0039142038934167345, + 0.00637119331592273 + ], + "object_to_gripper_xy": 0.004778110396463068, + "object_to_gripper_z": 0.00637119331592273, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16259291608379084, + 0.21189992785106562, + 1.163276533204231 + ], + "finger_b": [ + 0.1535929369020955, + 0.23484918931017296, + 1.163276533204231 + ], + "finger_midpoint": [ + 0.15809292649294315, + 0.22337455858061928, + 1.163276533204231 + ], + "object_minus_finger_midpoint": [ + 0.004499989590847686, + 0.011474630729553681, + 0.0 + ], + "finger_gap": 0.02465092750363399, + "fingertip_max_gap": 0.09150248126485136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012325463751817015, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163276533204231, + "object_top_z": 1.2135045795703465, + "finger_top_clearance": 0.05022804636611555, + "fingertip_min_top_clearance": 0.015068413909834665, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012325463751817015, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825124063242568, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8730519469292838, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3090019024741507, + -0.3831582136009687, + 0.8515395871209159 + ], + "target_position": [ + 0.3038937935869923, + -0.38346705748987037, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005117436951324224, + "xy_threshold": 0.08, + "gripper_dist": 0.1826840469866106, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395871209159, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547020828484859, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08548392385887336, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15069087931408448, + "release_required_pad_clearance": 0.052741961929436684, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5352215799476148, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008447647094726562, + "max_z_decrease": 0.008447647094726562, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504802274317372, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008447647094726562, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02086345727082517, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008447647094726562, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008447737742913854, + "max_button_displacement": 0.12, + "button_start": [ + 0.1595937162637711, + -0.4397285282611847, + 0.7768088579177856 + ], + "button_final": [ + 0.1595937162637711, + -0.4397285282611847, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15876170075047327, + -0.437859011492835, + 0.8033509604218617 + ], + "closest_button": [ + 0.15955653786659246, + -0.43971630930900574, + 0.7683612108230591 + ], + "closest_ee_minus_button": [ + -0.0007948371161191903, + 0.001857297816170722, + 0.03498974959880263 + ], + "button_min_z_position": [ + 0.15955653786659246, + -0.43971630930900574, + 0.7683612108230591 + ], + "min_active_finger_to_button": 0.14571645842208514, + "closest_active_finger": [ + 0.03135666251182556, + -0.4999364912509918, + 0.8105431795120239 + ], + "closest_active_finger_button": [ + 0.15958896279335028, + -0.43972769379615784, + 0.776416003704071 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1282323002815247, + -0.060208797454833984, + 0.03412717580795288 + ], + "min_contact_pad_to_button": 0.02086345727082517, + "closest_contact_pad": [ + 0.15955653786659246, + -0.43971630930900574, + 0.7892246680938843 + ], + "closest_contact_pad_button": [ + 0.15955653786659246, + -0.43971630930900574, + 0.7683612108230591 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086345727082517 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "420cfdb8e6135e21fada1b066954e01ea3858a3b72b8c44a8ce65440741224fd", + "visual_seed": 7550817507829134568, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b29a0d248c247508c5add591137a35d5d3a4ddba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_58_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23687718011314263, + -0.05163798825444028, + 0.9948436505789238 + ], + "current_z": 0.9948436505789238, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13825708356571342, + "gripper_z": 0.997792057114518, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23234648101602665, + -0.05604473863549915, + 0.997792057114518 + ], + "object_minus_gripper": [ + 0.004530699097115981, + 0.004406750381058873, + -0.00294840653559425 + ], + "object_to_gripper_xy": 0.006320338854014877, + "object_to_gripper_z": -0.00294840653559425, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23687718011314263, + -0.07587061095685128, + 0.9948436505789238 + ], + "finger_b": [ + 0.22615121861264045, + -0.05163798825444028, + 0.9948436505789238 + ], + "finger_midpoint": [ + 0.23151419936289153, + -0.06375429960564578, + 0.9948436505789238 + ], + "object_minus_finger_midpoint": [ + 0.005362980750251101, + 0.012116311351205507, + 0.0 + ], + "finger_gap": 0.02650030666138904, + "fingertip_max_gap": 0.09284987693535629, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013250153330694526, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9948436505789238, + "object_top_z": 1.0406436647547748, + "finger_top_clearance": 0.045800014175851, + "fingertip_min_top_clearance": 0.0137400042527553, + "object_projection_between_fingers": 0.8361785866904459, + "object_to_finger_line_xy": 0.009808119637383518, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04892493846767815, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8562453109345127, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16047479827065075, + 0.2305891122387357, + 0.7611063292008315 + ], + "gripper_position": [ + 0.16392637344713928, + 0.19197844655206148, + 1.0163782583098508 + ], + "target_minus_gripper": [ + -0.0034515751764885305, + 0.038610665686674234, + -0.2552719291090193 + ], + "held_position": [ + 0.16844640179843262, + 0.19628981697427417, + 1.0132730910195844 + ], + "held_minus_target": [ + 0.007971603527781868, + -0.03429929526446154, + 0.25216676181875286 + ], + "held_minus_gripper": [ + 0.004520028351293337, + 0.00431137042221269, + -0.0031051672902664418 + ], + "xy_dist": 0.038764634345845116, + "held_xy_dist": 0.03521346501613919, + "held_gripper_dist": 0.006975717534029501, + "max_held_gripper_dist": 0.006979662048660873, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.0132730910195844, + "required_height": 0.7911063292008316, + "gripper_z": 1.0163782583098508, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18648116402392, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.455103340274933, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9114346476409392, + "max_source_tilt_deg": 89.91541079851169, + "source_upright_tilt_deg": 2.8094458449957527, + "max_source_upright_tilt_deg": 89.97924192850179, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9114346476409392, + "source_upright_return_tilt_deg": 2.8094458449957527, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1605, + 0.2306, + 0.7611 + ], + "controller_target_position": [ + 0.1605, + 0.2306, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0013, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.1591, + 0.204, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0685, + 0.0655, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013982918978562835, + -0.0013258940703929209, + -0.0016086961435744901 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8094372437337047, + "source_return_step_error_deg": 1.9114325393958798, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8132049548035383, + "source_return_best_wrist_position": -1.609594464302063, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609594464302063 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1605, + 0.2306, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1605, + 0.2306, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0013, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1591, + 0.204, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0685, + 0.0655, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013982918978562835, + -0.0013258940703929209, + -0.0016086961435744901 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8094372437337047, + "pour_controller_source_return_step_error_deg": 1.9114325393958798, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8132049548035383, + "pour_controller_source_return_best_wrist_position": -1.609594464302063, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609594464302063, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038764634345845116, + "valid_pour_held_xy_dist": 0.03521346501613919, + "valid_pour_held_gripper_dist": 0.006975717534029501, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.0132730910195844, + "valid_pour_source_tilt_deg": 1.9114346476409392, + "valid_pour_source_upright_tilt_deg": 2.8094458449957527, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16844640179843262, + 0.17261184690975817, + 1.0132730910195844 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15763446170961593, + 0.19628981697427417, + 1.0132730910195844 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16304043175402427, + 0.18445083194201617, + 1.0132730910195844 + ], + "valid_pour_held_grasp_object_position": [ + 0.16844640179843262, + 0.19628981697427417, + 1.0132730910195844 + ], + "valid_pour_held_grasp_finger_gap": 0.02602968142064511, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02404723676537508, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.036785789396675025, + -0.9987980789679161, + 0.0323914054721941 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005850187965640559, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033574332334199916, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16844640179843262, + 0.17261184690975817, + 1.0132730910195844 + ], + "held_grasp_finger_b": [ + 0.15763446170961593, + 0.19628981697427417, + 1.0132730910195844 + ], + "held_grasp_midpoint": [ + 0.16304043175402427, + 0.18445083194201617, + 1.0132730910195844 + ], + "held_grasp_object_position": [ + 0.16844640179843262, + 0.19628981697427417, + 1.0132730910195844 + ], + "held_grasp_finger_gap": 0.02602968142064511, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02404723676537508, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.036785789396675025, + -0.9987980789679161, + 0.0323914054721941 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005850187965640559, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033574332334199916, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21600613071935093, + -0.05701862937169612, + 0.7565862056600368 + ], + "target_position": [ + 0.21451427392770261, + -0.05306402221312428, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004226648135983745, + "xy_threshold": 0.08, + "gripper_dist": 0.21588183614474657, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862056600368, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559923723671773, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08908919848499887, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18571406806394747, + "release_required_pad_clearance": 0.054544599242499436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.123500167325778, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16712607013779737, + 0.22616474599345676, + 1.1610154037501452 + ], + "current_z": 1.1610154037501452, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.2999090745493136, + "gripper_z": 1.1548607034583558, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16437237317693915, + 0.22244214326338257, + 1.1548607034583558 + ], + "object_minus_gripper": [ + 0.0027536969608582262, + 0.003722602730074187, + 0.006154700291789439 + ], + "object_to_gripper_xy": 0.004630401498595518, + "object_to_gripper_z": 0.006154700291789439, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16712607013779737, + 0.20295592806582305, + 1.1610154037501452 + ], + "finger_b": [ + 0.15875434553066547, + 0.22616474599345676, + 1.1610154037501452 + ], + "finger_midpoint": [ + 0.1629402078342314, + 0.2145603370296399, + 1.1610154037501452 + ], + "object_minus_finger_midpoint": [ + 0.0041858623035659626, + 0.01160440896381687, + 0.0 + ], + "finger_gap": 0.02467255565391858, + "fingertip_max_gap": 0.09177721920532775, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012336277826959308, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610154037501452, + "object_top_z": 1.2109448391272095, + "finger_top_clearance": 0.04992943537706429, + "fingertip_min_top_clearance": 0.014978830613119287, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012336277826959308, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048388609602663876, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3183852654522956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30349040656326554, + -0.3810384193815514, + 0.8515395752940393 + ], + "target_position": [ + 0.2980713844456724, + -0.38141548778798595, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00543212493358675, + "xy_threshold": 0.08, + "gripper_dist": 0.18082761108876044, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395752940393, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528095906028463, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08575086587191826, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14947248231183777, + "release_required_pad_clearance": 0.05287543293595913, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7922837146091333, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008576810359954834, + "max_z_decrease": 0.008576810359954834, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505171566190456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008576810359954834, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021034615468254816, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008576810359954834, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008577536851794236, + "max_button_displacement": 0.12, + "button_start": [ + 0.153771311044693, + -0.43767693638801575, + 0.7768088579177856 + ], + "button_final": [ + 0.153771311044693, + -0.43767693638801575, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1520951964036392, + -0.43931847604187807, + 0.8035798033427803 + ], + "closest_button": [ + 0.15367132425308228, + -0.43764728307724, + 0.7686034440994263 + ], + "closest_ee_minus_button": [ + -0.001576127849443082, + -0.0016711929646380796, + 0.03497635924335407 + ], + "button_min_z_position": [ + 0.15366438031196594, + -0.4376448690891266, + 0.7682320475578308 + ], + "min_active_finger_to_button": 0.14723546680752492, + "closest_active_finger": [ + 0.011204555630683899, + -0.42403730750083923, + 0.8109481334686279 + ], + "closest_active_finger_button": [ + 0.15376524627208707, + -0.43767789006233215, + 0.7767623662948608 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14256069064140317, + 0.01364058256149292, + 0.03418576717376709 + ], + "min_contact_pad_to_button": 0.021034615468254816, + "closest_contact_pad": [ + 0.15366438031196594, + -0.44041935271705507, + 0.7890828817976329 + ], + "closest_contact_pad_button": [ + 0.15366438031196594, + -0.4376448690891266, + 0.7682320475578308 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027744836279284812, + 0.020850834239802052 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9c35863f5ad71403659ee9fcec6db12bb51fbce5e25c239b6a165910f7e07729", + "visual_seed": 5893714352539129035, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5b6cf40a3fa278e582d1cbf8f98dc4b5b40efcd0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_59_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23928834316703224, + -0.050723303127307835, + 0.9969330475601044 + ], + "current_z": 0.9969330475601044, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14034648054689403, + "gripper_z": 0.999723259650599, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23503953148407966, + -0.0551321375895885, + 0.999723259650599 + ], + "object_minus_gripper": [ + 0.004248811682952575, + 0.0044088344622806655, + -0.0027902120904946814 + ], + "object_to_gripper_xy": 0.00612292593724503, + "object_to_gripper_z": -0.0027902120904946814, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23928834316703224, + -0.07445832492912378, + 0.9969330475601044 + ], + "finger_b": [ + 0.22819930280067713, + -0.050723303127307835, + 0.9969330475601044 + ], + "finger_midpoint": [ + 0.23374382298385468, + -0.06259081402821581, + 0.9969330475601044 + ], + "object_minus_finger_midpoint": [ + 0.005544520183177554, + 0.011867510900907978, + 0.0 + ], + "finger_gap": 0.026197673106200317, + "fingertip_max_gap": 0.093493659732097, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013098836553100162, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9969330475601044, + "object_top_z": 1.042759872576635, + "finger_top_clearance": 0.04582682501653057, + "fingertip_min_top_clearance": 0.013748047504959171, + "object_projection_between_fingers": 0.8208311561146724, + "object_to_finger_line_xy": 0.010046640928364109, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0492468298660485, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.546385305181956, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15929136294979662, + 0.2392513509558149, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16369016964425567, + 0.20132829346116754, + 1.0180554836898503 + ], + "target_minus_gripper": [ + -0.004398806694459051, + 0.03792305749464736, + -0.2569490948843739 + ], + "held_position": [ + 0.16804294517888557, + 0.20552712761103598, + 1.0151041800878187 + ], + "held_minus_target": [ + 0.00875158222908895, + -0.033724223344778925, + 0.25399779128234223 + ], + "held_minus_gripper": [ + 0.004352775534629899, + 0.004198834149868436, + -0.002951303602031663 + ], + "xy_dist": 0.038177320362717274, + "held_xy_dist": 0.03484126047836154, + "held_gripper_dist": 0.006729565812468072, + "max_held_gripper_dist": 0.006746066260464439, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0151041800878187, + "required_height": 0.7911063888054765, + "gripper_z": 1.0180554836898503, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16840848348005, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8029742567830185, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9623075752584918, + "max_source_tilt_deg": 89.73336248733649, + "source_upright_tilt_deg": 2.211299869459498, + "max_source_upright_tilt_deg": 89.65678624848897, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9623075752584918, + "source_upright_return_tilt_deg": 2.211299869459498, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1593, + 0.2393, + 0.7611 + ], + "controller_target_position": [ + 0.1593, + 0.2393, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.002, + -0.0012, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1613, + 0.2127, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0645, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019807011160784893, + -0.0012235955344147413, + 0.0017977448525760974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2112805590443947, + "source_return_step_error_deg": 1.962336157938242, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.213256351746611, + "source_return_best_wrist_position": -1.6093394756317139, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093394756317139 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1593, + 0.2393, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1593, + 0.2393, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.002, + -0.0012, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1613, + 0.2127, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0645, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019807011160784893, + -0.0012235955344147413, + 0.0017977448525760974 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2112805590443947, + "pour_controller_source_return_step_error_deg": 1.962336157938242, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.213256351746611, + "pour_controller_source_return_best_wrist_position": -1.6093394756317139, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093394756317139, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038177320362717274, + "valid_pour_held_xy_dist": 0.03484126047836154, + "valid_pour_held_gripper_dist": 0.006729565812468072, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0151041800878187, + "valid_pour_source_tilt_deg": 1.9623075752584918, + "valid_pour_source_upright_tilt_deg": 2.211299869459498, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16804294517888557, + 0.18188790166631633, + 1.0151041800878187 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15750354726790855, + 0.20552712761103598, + 1.0151041800878187 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16277324622339706, + 0.19370751463867614, + 1.0151041800878187 + ], + "valid_pour_held_grasp_object_position": [ + 0.16804294517888557, + 0.20552712761103598, + 1.0151041800878187 + ], + "valid_pour_held_grasp_finger_gap": 0.02588227021710834, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023849216831219933, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021594611081077974, + -0.9992553346519402, + 0.03197575553284637 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005536500366867055, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350321074911708, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16804294517888557, + 0.18188790166631633, + 1.0151041800878187 + ], + "held_grasp_finger_b": [ + 0.15750354726790855, + 0.20552712761103598, + 1.0151041800878187 + ], + "held_grasp_midpoint": [ + 0.16277324622339706, + 0.19370751463867614, + 1.0151041800878187 + ], + "held_grasp_object_position": [ + 0.16804294517888557, + 0.20552712761103598, + 1.0151041800878187 + ], + "held_grasp_finger_gap": 0.02588227021710834, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023849216831219933, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021594611081077974, + -0.9992553346519402, + 0.03197575553284637 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005536500366867055, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350321074911708, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22049937640408518, + -0.050381874071171596, + 0.7565864281562348 + ], + "target_position": [ + 0.21757913694540776, + -0.05408849815596316, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0047187774478114, + "xy_threshold": 0.08, + "gripper_dist": 0.21890918656478123, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864281562348, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538745090857246, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08651842765929506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.190807858800017, + "release_required_pad_clearance": 0.05325921382964753, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5384622169618456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1661988753680318, + 0.23703853574491537, + 1.1619463397594876 + ], + "current_z": 1.1619463397594876, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30084001055865595, + "gripper_z": 1.1555015277281482, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16315407848610222, + 0.233128727267495, + 1.1555015277281482 + ], + "object_minus_gripper": [ + 0.0030447968819295734, + 0.003909808477420368, + 0.0064448120313393975 + ], + "object_to_gripper_xy": 0.004955541381354436, + "object_to_gripper_z": 0.0064448120313393975, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1661988753680318, + 0.21365849613930513, + 1.1619463397594876 + ], + "finger_b": [ + 0.15750866061939145, + 0.23703853574491537, + 1.1619463397594876 + ], + "finger_midpoint": [ + 0.16185376799371162, + 0.22534851594211025, + 1.1619463397594876 + ], + "object_minus_finger_midpoint": [ + 0.004345107374320173, + 0.011690019802805124, + 0.0 + ], + "finger_gap": 0.024942856378879105, + "fingertip_max_gap": 0.09143772663350891, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012471428189439552, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619463397594876, + "object_top_z": 1.2119955777246003, + "finger_top_clearance": 0.050049237965112736, + "fingertip_min_top_clearance": 0.01501477138953382, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012471428189439552, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821886331675446, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9832842422358917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3088841915555639, + -0.38651836714232846, + 0.8515395994600679 + ], + "target_position": [ + 0.30327866632608413, + -0.3877679733153353, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005743120117666966, + "xy_threshold": 0.08, + "gripper_dist": 0.18362939689991326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395994600679, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535404554916766, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08578210010999514, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15213669008245004, + "release_required_pad_clearance": 0.05289105005499757, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8223382304004965, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008695662021636963, + "max_z_decrease": 0.008695662021636963, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03508435524111768, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008695662021636963, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02088339812993323, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008695662021636963, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008696428836073068, + "max_button_displacement": 0.12, + "button_start": [ + 0.15897859632968908, + -0.4440294206142425, + 0.7768088579177856 + ], + "button_final": [ + 0.15897859632968908, + -0.4440294206142425, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16061301462719982, + -0.44244412418083073, + 0.8038852901595696 + ], + "closest_button": [ + 0.15887518227100375, + -0.44399371743202204, + 0.7688782811164856 + ], + "closest_ee_minus_button": [ + 0.0017378323561960674, + 0.0015495932511913058, + 0.03500700904308396 + ], + "button_min_z_position": [ + 0.15886658430099487, + -0.44400131702423096, + 0.7681131958961487 + ], + "min_active_finger_to_button": 0.14369195637457088, + "closest_active_finger": [ + 0.03472632169723511, + -0.5076256990432739, + 0.8103911876678467 + ], + "closest_active_finger_button": [ + 0.15897390246391302, + -0.4440291225910187, + 0.776253342628479 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12424758076667791, + -0.06359657645225525, + 0.034137845039367676 + ], + "min_contact_pad_to_button": 0.02088339812993323, + "closest_contact_pad": [ + 0.15886658430099487, + -0.44400131702423096, + 0.7889965940260819 + ], + "closest_contact_pad_button": [ + 0.15886658430099487, + -0.44400131702423096, + 0.7681131958961487 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02088339812993323 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9ed493d41b34f2db9c3a2ddf039af2619abd44a88feedb878232e758b10c1ccc", + "visual_seed": 4984393267979186199, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e63308bdb3dba63922ae5bc58fb861d943ccadf4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_5_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23834484533828482, + -0.053974992842385265, + 0.998231372011317 + ], + "current_z": 0.998231372011317, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14164486460275139, + "gripper_z": 1.0012547955305118, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23390812495814076, + -0.05831930819882328, + 1.0012547955305118 + ], + "object_minus_gripper": [ + 0.00443672038014406, + 0.004344315356438012, + -0.0030234235191948233 + ], + "object_to_gripper_xy": 0.006209473701350928, + "object_to_gripper_z": -0.0030234235191948233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23834484533828482, + -0.07816971668644439, + 0.998231372011317 + ], + "finger_b": [ + 0.2277496554648362, + -0.053974992842385265, + 0.998231372011317 + ], + "finger_midpoint": [ + 0.2330472504015605, + -0.06607235476441482, + 0.998231372011317 + ], + "object_minus_finger_midpoint": [ + 0.005297594936724326, + 0.012097361922029558, + 0.0 + ], + "finger_gap": 0.02641292695527535, + "fingertip_max_gap": 0.09377631702019562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320646347763768, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.998231372011317, + "object_top_z": 1.0439790384940644, + "finger_top_clearance": 0.04574766648274742, + "fingertip_min_top_clearance": 0.013724299944824242, + "object_projection_between_fingers": 0.8390894840727848, + "object_to_finger_line_xy": 0.009705387573953133, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04938815851009781, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7629092306786056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1593587460007152, + 0.23179375191196872, + 0.7611067464333452 + ], + "gripper_position": [ + 0.16212993763126338, + 0.19572100002285092, + 1.0169889324763073 + ], + "target_minus_gripper": [ + -0.0027711916305481754, + 0.03607275188911779, + -0.2558821860429621 + ], + "held_position": [ + 0.1665280699340962, + 0.199994980408584, + 1.0138105674839857 + ], + "held_minus_target": [ + 0.007169323933380989, + -0.031798771503384726, + 0.2527038210506405 + ], + "held_minus_gripper": [ + 0.004398132302832813, + 0.004273980385733067, + -0.003178364992321603 + ], + "xy_dist": 0.03617903995281068, + "held_xy_dist": 0.03259694885700534, + "held_gripper_dist": 0.006907422103452774, + "max_held_gripper_dist": 0.006910852236636882, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611067464333452, + "held_z": 1.0138105674839857, + "required_height": 0.7911067464333452, + "gripper_z": 1.0169889324763073, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18338025814073, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.472199591074325, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9103599966537053, + "max_source_tilt_deg": 89.97741070246263, + "source_upright_tilt_deg": 3.9669682321676496, + "max_source_upright_tilt_deg": 89.82213029833353, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9103599966537053, + "source_upright_return_tilt_deg": 3.9669682321676496, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 2.2745635393967848e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1594, + 0.2318, + 0.7611 + ], + "controller_target_position": [ + 0.1594, + 0.2318, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0017, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1575, + 0.2082, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0698, + 0.0671, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018876384433630581, + 0.0016614932567013364, + -0.0016810741882068152 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.967153550388623, + "source_return_step_error_deg": 1.9104227672918257, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.968131220997987, + "source_return_best_wrist_position": -1.6097718477249146, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097718477249146 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1594, + 0.2318, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1594, + 0.2318, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0017, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1575, + 0.2082, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0698, + 0.0671, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018876384433630581, + 0.0016614932567013364, + -0.0016810741882068152 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.967153550388623, + "pour_controller_source_return_step_error_deg": 1.9104227672918257, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.968131220997987, + "pour_controller_source_return_best_wrist_position": -1.6097718477249146, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097718477249146, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03617903995281068, + "valid_pour_held_xy_dist": 0.03259694885700534, + "valid_pour_held_gripper_dist": 0.006907422103452774, + "valid_pour_required_height": 0.7911067464333452, + "valid_pour_held_z": 1.0138105674839857, + "valid_pour_source_tilt_deg": 1.9103599966537053, + "valid_pour_source_upright_tilt_deg": 3.9669682321676496, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1665280699340962, + 0.17647312793986025, + 1.0138105674839857 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15569055346652674, + 0.199994980408584, + 1.0138105674839857 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16110931170031145, + 0.18823405417422212, + 1.0138105674839857 + ], + "valid_pour_held_grasp_object_position": [ + 0.1665280699340962, + 0.199994980408584, + 1.0138105674839857 + ], + "valid_pour_held_grasp_finger_gap": 0.025898442168308965, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024114937236724462, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.059925219926752676, + -0.9976041092064024, + 0.03456890671153478 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006126926020057233, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033792196905227445, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1665280699340962, + 0.17647312793986025, + 1.0138105674839857 + ], + "held_grasp_finger_b": [ + 0.15569055346652674, + 0.199994980408584, + 1.0138105674839857 + ], + "held_grasp_midpoint": [ + 0.16110931170031145, + 0.18823405417422212, + 1.0138105674839857 + ], + "held_grasp_object_position": [ + 0.1665280699340962, + 0.199994980408584, + 1.0138105674839857 + ], + "held_grasp_finger_gap": 0.025898442168308965, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024114937236724462, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.059925219926752676, + -0.9976041092064024, + 0.03456890671153478 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006126926020057233, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033792196905227445, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22280231701522002, + -0.06211059381184958, + 0.7565867845659429 + ], + "target_position": [ + 0.2160329231974365, + -0.057599877020362726, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008134571816220397, + "xy_threshold": 0.08, + "gripper_dist": 0.2212497242739786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867845659429, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577134424970011, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08605805150997038, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19046624437963974, + "release_required_pad_clearance": 0.05302902575498519, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0892909748545483, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1663929248072194, + 0.22915707420850073, + 1.1597542484171615 + ], + "current_z": 1.1597542484171615, + "required_z": 0.8611067464333453, + "initial_z": 0.7611067464333453, + "lift_margin": 0.2986475019838162, + "gripper_z": 1.1535724936856868, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16347709864057058, + 0.22526513457343972, + 1.1535724936856868 + ], + "object_minus_gripper": [ + 0.002915826166648816, + 0.0038919396350610147, + 0.006181754731474642 + ], + "object_to_gripper_xy": 0.0048630480521040294, + "object_to_gripper_z": 0.006181754731474642, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1663929248072194, + 0.206167913392914, + 1.1597542484171615 + ], + "finger_b": [ + 0.1573338293510924, + 0.22915707420850073, + 1.1597542484171615 + ], + "finger_midpoint": [ + 0.1618633770791559, + 0.21766249380070735, + 1.1597542484171615 + ], + "object_minus_finger_midpoint": [ + 0.004529547728063493, + 0.011494580407793387, + 0.0 + ], + "finger_gap": 0.024709688899055966, + "fingertip_max_gap": 0.09113575366693483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012354844449527997, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597542484171615, + "object_top_z": 1.209687210858728, + "finger_top_clearance": 0.04993296244156653, + "fingertip_min_top_clearance": 0.014979888732469925, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012354844449527997, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048067876833467416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6727414225685591, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30624931786805165, + -0.3876250028112377, + 0.8515395741445243 + ], + "target_position": [ + 0.3014476678766701, + -0.3880420914615283, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004819730861981371, + "xy_threshold": 0.08, + "gripper_dist": 0.1816470496744316, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741445243, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550362215269352, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08650584532039039, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14981444784759743, + "release_required_pad_clearance": 0.0532529226601952, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5262031775221678, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0086631178855896, + "max_z_decrease": 0.0086631178855896, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504059791274445, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0086631178855896, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021001521519870052, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.0086631178855896, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00866355940552646, + "max_button_displacement": 0.12, + "button_start": [ + 0.15714760124683375, + -0.4443035423755646, + 0.7768088579177856 + ], + "button_final": [ + 0.15714760124683375, + -0.4443035423755646, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1582233666722751, + -0.4452017516899577, + 0.8031548834283612 + ], + "closest_button": [ + 0.1570658236742019, + -0.444272518157959, + 0.768145740032196 + ], + "closest_ee_minus_button": [ + 0.001157542998073191, + -0.0009292335319986966, + 0.03500914339616512 + ], + "button_min_z_position": [ + 0.1570658236742019, + -0.444272518157959, + 0.768145740032196 + ], + "min_active_finger_to_button": 0.1446838474021891, + "closest_active_finger": [ + 0.017605729401111603, + -0.427245557308197, + 0.8104766607284546 + ], + "closest_active_finger_button": [ + 0.1571450680494308, + -0.4443061351776123, + 0.7762549519538879 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1395393386483192, + 0.017060577869415283, + 0.03422170877456665 + ], + "min_contact_pad_to_button": 0.021001521519870052, + "closest_contact_pad": [ + 0.1570658236742019, + -0.44654267081962173, + 0.7890242053264247 + ], + "closest_contact_pad_button": [ + 0.1570658236742019, + -0.444272518157959, + 0.768145740032196 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00227015266166275, + 0.020878465294228654 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "401d34d1c8b2e10cb1bf25a293159e5886bce65d59052fdffa40643066fdd082", + "visual_seed": 1926992584954170001, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1cdefb258120acc8bf4a08dd15b652753909031e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_60_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23780731831459093, + -0.048753641918452724, + 0.9955694987180075 + ], + "current_z": 0.9955694987180075, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1389830509140867, + "gripper_z": 0.9985253896142977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23341957221368317, + -0.05324475330982753, + 0.9985253896142977 + ], + "object_minus_gripper": [ + 0.004387746100907752, + 0.004491111391374807, + -0.0029558908962902253 + ], + "object_to_gripper_xy": 0.0062787257764428395, + "object_to_gripper_z": -0.0029558908962902253, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23780731831459093, + -0.0725725480805077, + 0.9955694987180075 + ], + "finger_b": [ + 0.2265802067342133, + -0.048753641918452724, + 0.9955694987180075 + ], + "finger_midpoint": [ + 0.2321937625244021, + -0.06066309499948021, + 0.9955694987180075 + ], + "object_minus_finger_midpoint": [ + 0.005613555790188823, + 0.011909453081027484, + 0.0 + ], + "finger_gap": 0.02633226775640544, + "fingertip_max_gap": 0.09353264857544932, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013166133878202724, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955694987180075, + "object_top_z": 1.0414027548680052, + "finger_top_clearance": 0.04583325614999767, + "fingertip_min_top_clearance": 0.0137499768449993, + "object_projection_between_fingers": 0.8182143686904513, + "object_to_finger_line_xy": 0.010155506532052671, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049266324287724664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5562564278566566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16234364230293835, + 0.23450817723736242, + 0.7611064484101214 + ], + "gripper_position": [ + 0.1661119088437176, + 0.19757654340359196, + 1.0178453058275565 + ], + "target_minus_gripper": [ + -0.003768266540779247, + 0.03693163383377046, + -0.2567388574174351 + ], + "held_position": [ + 0.1705959457806402, + 0.20185956775360253, + 1.014726635940472 + ], + "held_minus_target": [ + 0.008252303477701839, + -0.03264860948375989, + 0.25362018753035065 + ], + "held_minus_gripper": [ + 0.004484036936922592, + 0.0042830243500105725, + -0.0031186698870844243 + ], + "xy_dist": 0.037123380912223704, + "held_xy_dist": 0.03367539478478532, + "held_gripper_dist": 0.006940964392580962, + "max_held_gripper_dist": 0.0069601714357900935, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101214, + "held_z": 1.014726635940472, + "required_height": 0.7911064484101215, + "gripper_z": 1.0178453058275565, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16880463445192, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8065853953729099, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9141928202572678, + "max_source_tilt_deg": 89.76120127210233, + "source_upright_tilt_deg": 2.2935070197981315, + "max_source_upright_tilt_deg": 89.5623049485826, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9141928202572678, + "source_upright_return_tilt_deg": 2.2935070197981315, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.2818463544611077e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1623, + 0.2345, + 0.7611 + ], + "controller_target_position": [ + 0.1623, + 0.2345, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0005, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1631, + 0.2097, + 1.027 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0647, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007950941268910837, + 0.0005004562619332124, + 0.0005845714319272573 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.293796624307649, + "source_return_step_error_deg": 1.9144569763613464, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2961623228811887, + "source_return_best_wrist_position": -1.609182596206665, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609182596206665 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1623, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1623, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0005, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1631, + 0.2097, + 1.027 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0647, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007950941268910837, + 0.0005004562619332124, + 0.0005845714319272573 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.293796624307649, + "pour_controller_source_return_step_error_deg": 1.9144569763613464, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2961623228811887, + "pour_controller_source_return_best_wrist_position": -1.609182596206665, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609182596206665, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037123380912223704, + "valid_pour_held_xy_dist": 0.03367539478478532, + "valid_pour_held_gripper_dist": 0.006940964392580962, + "valid_pour_required_height": 0.7911064484101215, + "valid_pour_held_z": 1.014726635940472, + "valid_pour_source_tilt_deg": 1.9141928202572678, + "valid_pour_source_upright_tilt_deg": 2.2935070197981315, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1705959457806402, + 0.1781818803319733, + 1.014726635940472 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15985946483660476, + 0.20185956775360253, + 1.014726635940472 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16522770530862246, + 0.19002072404278791, + 1.014726635940472 + ], + "valid_pour_held_grasp_object_position": [ + 0.1705959457806402, + 0.20185956775360253, + 1.014726635940472 + ], + "valid_pour_held_grasp_finger_gap": 0.025998171179873693, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023918956456512885, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024238497185149165, + -0.9991989450692962, + 0.031842792380869615 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005666035763770234, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350098290069474, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1705959457806402, + 0.1781818803319733, + 1.014726635940472 + ], + "held_grasp_finger_b": [ + 0.15985946483660476, + 0.20185956775360253, + 1.014726635940472 + ], + "held_grasp_midpoint": [ + 0.16522770530862246, + 0.19002072404278791, + 1.014726635940472 + ], + "held_grasp_object_position": [ + 0.1705959457806402, + 0.20185956775360253, + 1.014726635940472 + ], + "held_grasp_finger_gap": 0.025998171179873693, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023918956456512885, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024238497185149165, + -0.9991989450692962, + 0.031842792380869615 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005666035763770234, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350098290069474, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2227420985823977, + -0.049705641385749295, + 0.7565977995914064 + ], + "target_position": [ + 0.21595733267548248, + -0.050598185214877724, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006843221675391975, + "xy_threshold": 0.08, + "gripper_dist": 0.2209802854203828, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565977995914064, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587834343909419, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08669762003703589, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19090261976942705, + "release_required_pad_clearance": 0.05334881001851795, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6765576022663187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16928852776926143, + 0.23113230885340819, + 1.1615942906210464 + ], + "current_z": 1.1615942906210464, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3004879018155697, + "gripper_z": 1.155136282959197, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1663520990744688, + 0.2271917557530162, + 1.155136282959197 + ], + "object_minus_gripper": [ + 0.002936428694792631, + 0.003940553100391986, + 0.006458007661849452 + ], + "object_to_gripper_xy": 0.0049143231697366474, + "object_to_gripper_z": 0.006458007661849452, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16928852776926143, + 0.2078209564413771, + 1.1615942906210464 + ], + "finger_b": [ + 0.16053887222889476, + 0.23113230885340819, + 1.1615942906210464 + ], + "finger_midpoint": [ + 0.1649136999990781, + 0.21947663264739264, + 1.1615942906210464 + ], + "object_minus_finger_midpoint": [ + 0.004374827770183332, + 0.011655676206015542, + 0.0 + ], + "finger_gap": 0.024899309696314403, + "fingertip_max_gap": 0.09158822766054939, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012449654848157202, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1615942906210464, + "object_top_z": 1.2118758043479765, + "finger_top_clearance": 0.05028151372693013, + "fingertip_min_top_clearance": 0.015084454118079037, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012449654848157202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048294113830274696, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0007068445093583, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3096107849331964, + -0.38615390070495825, + 0.8515395834892229 + ], + "target_position": [ + 0.30425791931216206, + -0.38662479958647905, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005373538509536213, + "xy_threshold": 0.08, + "gripper_dist": 0.1835934380414401, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395834892229, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565270694587242, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598660455382288, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1510968687589443, + "release_required_pad_clearance": 0.052993302276911444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0202813186200255, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008677542209625244, + "max_z_decrease": 0.008677542209625244, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350038470935968, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008677542209625244, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020900532001362358, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008677542209625244, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008677827537798166, + "max_button_displacement": 0.12, + "button_start": [ + 0.15995784103870386, + -0.44288626313209534, + 0.7768088579177856 + ], + "button_final": [ + 0.15995784103870386, + -0.44288626313209534, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16021113035828569, + -0.4428701531963308, + 0.8031337040845551 + ], + "closest_button": [ + 0.15989166498184199, + -0.44286233186721796, + 0.7681313157081604 + ], + "closest_ee_minus_button": [ + 0.00031946537644370054, + -7.821329112811526e-06, + 0.03500238837639469 + ], + "button_min_z_position": [ + 0.15989166498184199, + -0.44286233186721796, + 0.7681313157081604 + ], + "min_active_finger_to_button": 0.14556604795339176, + "closest_active_finger": [ + 0.03266233950853348, + -0.5046964883804321, + 0.8103601336479187 + ], + "closest_active_finger_button": [ + 0.15995469689369196, + -0.44288733601570124, + 0.7762169241905212 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12729235738515848, + -0.06180915236473089, + 0.03414320945739746 + ], + "min_contact_pad_to_button": 0.020900532001362358, + "closest_contact_pad": [ + 0.15989166498184199, + -0.44415918573745566, + 0.7889915747664564 + ], + "closest_contact_pad_button": [ + 0.15989166498184199, + -0.44286233186721796, + 0.7681313157081604 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001296853870237702, + 0.020860259058296027 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6ef7c645933d9c3ac76ce13e49f50b11e938dc2000de5e86b3e6c386fa625967", + "visual_seed": 7934832812141814555, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..246c001214f22ae6ab5ab08bd47ccacae20f15be --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_61_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23135519673168448, + -0.05584382135046845, + 0.9963102450176661 + ], + "current_z": 0.9963102450176661, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13972379721374528, + "gripper_z": 0.9992526520285763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22695712470535603, + -0.06028396294616621, + 0.9992526520285763 + ], + "object_minus_gripper": [ + 0.004398072026328442, + 0.0044401415956977636, + -0.0029424070109101974 + ], + "object_to_gripper_xy": 0.006249631584231046, + "object_to_gripper_z": -0.0029424070109101974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23135519673168448, + -0.07979077760599329, + 0.9963102450176661 + ], + "finger_b": [ + 0.22035594434382955, + -0.05584382135046845, + 0.9963102450176661 + ], + "finger_midpoint": [ + 0.225855570537757, + -0.06781729947823087, + 0.9963102450176661 + ], + "object_minus_finger_midpoint": [ + 0.005499626193927465, + 0.011973478127762421, + 0.0 + ], + "finger_gap": 0.02635223457310125, + "fingertip_max_gap": 0.0927524794882435, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013176117286550625, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9963102450176661, + "object_top_z": 1.04217939161861, + "finger_top_clearance": 0.04586914660094388, + "fingertip_min_top_clearance": 0.013760743980283163, + "object_projection_between_fingers": 0.8257826355387995, + "object_to_finger_line_xy": 0.009995304764184991, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887623974412175, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7918121383067944, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15681136269230456, + 0.23014323969349337, + 0.7611065676194108 + ], + "gripper_position": [ + 0.15941147492278515, + 0.19262408457047053, + 1.0177327059237853 + ], + "target_minus_gripper": [ + -0.0026001122304805946, + 0.03751915512302284, + -0.25662613830437453 + ], + "held_position": [ + 0.16389355375294543, + 0.19686737863492304, + 1.0146301098339043 + ], + "held_minus_target": [ + 0.007082191060640869, + -0.03327586105857033, + 0.2535235422144936 + ], + "held_minus_gripper": [ + 0.004482078830160274, + 0.0042432940644525075, + -0.003102596089880949 + ], + "xy_dist": 0.037609142302856974, + "held_xy_dist": 0.03402117516207662, + "held_gripper_dist": 0.006908015464236695, + "max_held_gripper_dist": 0.00691289683864995, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194108, + "held_z": 1.0146301098339043, + "required_height": 0.7911065676194108, + "gripper_z": 1.0177327059237853, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17411169143702, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4945322745552765, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.01987046676188, + "max_source_tilt_deg": 89.79632596570096, + "source_upright_tilt_deg": 1.9239035659559904, + "max_source_upright_tilt_deg": 89.64097761964649, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.01987046676188, + "source_upright_return_tilt_deg": 1.9239035659559904, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 5.960464477539063e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1568, + 0.2301, + 0.7611 + ], + "controller_target_position": [ + 0.1568, + 0.2301, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0001, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.1559, + 0.2047, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0639, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008776878798615476, + -0.0001101702491201615, + 0.0001852536086388414 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.923898259521647, + "source_return_step_error_deg": 2.0198844602149166, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0160290505467153, + "source_return_best_wrist_position": -1.6094515323638916, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094515323638916 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1568, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1568, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0001, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1559, + 0.2047, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0639, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008776878798615476, + -0.0001101702491201615, + 0.0001852536086388414 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.923898259521647, + "pour_controller_source_return_step_error_deg": 2.0198844602149166, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0160290505467153, + "pour_controller_source_return_best_wrist_position": -1.6094515323638916, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094515323638916, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037609142302856974, + "valid_pour_held_xy_dist": 0.03402117516207662, + "valid_pour_held_gripper_dist": 0.006908015464236695, + "valid_pour_required_height": 0.7911065676194108, + "valid_pour_held_z": 1.0146301098339043, + "valid_pour_source_tilt_deg": 2.01987046676188, + "valid_pour_source_upright_tilt_deg": 1.9239035659559904, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16389355375294543, + 0.1731112027279262, + 1.0146301098339043 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15332723008870627, + 0.19686737863492304, + 1.0146301098339043 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15861039192082585, + 0.1849892906814246, + 1.0146301098339043 + ], + "valid_pour_held_grasp_object_position": [ + 0.16389355375294543, + 0.19686737863492304, + 1.0146301098339043 + ], + "valid_pour_held_grasp_finger_gap": 0.026000059413425133, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023878490554931433, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.012843245141211102, + -0.9994363050189969, + 0.031018111873829746 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005447681175267524, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03339668557340626, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16389355375294543, + 0.1731112027279262, + 1.0146301098339043 + ], + "held_grasp_finger_b": [ + 0.15332723008870627, + 0.19686737863492304, + 1.0146301098339043 + ], + "held_grasp_midpoint": [ + 0.15861039192082585, + 0.1849892906814246, + 1.0146301098339043 + ], + "held_grasp_object_position": [ + 0.16389355375294543, + 0.19686737863492304, + 1.0146301098339043 + ], + "held_grasp_finger_gap": 0.026000059413425133, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023878490554931433, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.012843245141211102, + -0.9994363050189969, + 0.031018111873829746 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005447681175267524, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03339668557340626, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2157422982640217, + -0.06107138608026877, + 0.7565864157492843 + ], + "target_position": [ + 0.21034750858635562, + -0.05578522478869167, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007552963449323748, + "xy_threshold": 0.08, + "gripper_dist": 0.21961191949115452, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864157492843, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542034228875666, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08913694728966566, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18926579605796817, + "release_required_pad_clearance": 0.05456847364483283, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.172757228193677, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1635291272006428, + 0.22705955261469205, + 1.1598302810985228 + ], + "current_z": 1.1598302810985228, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.298723713479112, + "gripper_z": 1.153574054781313, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1607384251347472, + 0.2233269005076406, + 1.153574054781313 + ], + "object_minus_gripper": [ + 0.0027907020658956005, + 0.003732652107051454, + 0.006256226317209901 + ], + "object_to_gripper_xy": 0.004660548226643474, + "object_to_gripper_z": 0.006256226317209901, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1635291272006428, + 0.20385956408590833, + 1.1598302810985228 + ], + "finger_b": [ + 0.15509254784366838, + 0.22705955261469205, + 1.1598302810985228 + ], + "finger_midpoint": [ + 0.15931083752215558, + 0.21545955835030017, + 1.1598302810985228 + ], + "object_minus_finger_midpoint": [ + 0.004218289678487225, + 0.011599994264391872, + 0.0 + ], + "finger_gap": 0.024686339116649574, + "fingertip_max_gap": 0.09111895116480453, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012343169558324806, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1598302810985228, + "object_top_z": 1.2097564655761366, + "finger_top_clearance": 0.049926184477613766, + "fingertip_min_top_clearance": 0.014977855343284129, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012343169558324806, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805947558240227, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7280867025285354, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.311160144160865, + -0.3871534425008767, + 0.8515395107242172 + ], + "target_position": [ + 0.305617716932071, + -0.38736574153169745, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005546491725853792, + "xy_threshold": 0.08, + "gripper_dist": 0.18443354244035273, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395107242172, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536272167673978, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498254735642057, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152687261447857, + "release_required_pad_clearance": 0.052491273678210285, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595290984576007, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00873720645904541, + "max_z_decrease": 0.00873720645904541, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499885375766633, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00873720645904541, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020920350738149452, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00873720645904541, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008737517135162081, + "max_button_displacement": 0.12, + "button_start": [ + 0.16131764650344846, + -0.4436272084712982, + 0.7768088579177856 + ], + "button_final": [ + 0.16131764650344846, + -0.4436272084712982, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16136510505455096, + -0.4435974124411615, + 0.803070318584486 + ], + "closest_button": [ + 0.16125081479549402, + -0.4435961842536926, + 0.7680716514587402 + ], + "closest_ee_minus_button": [ + 0.00011429025905693169, + -1.2281874688935268e-06, + 0.03499866712574573 + ], + "button_min_z_position": [ + 0.16125081479549402, + -0.4435961842536926, + 0.7680716514587402 + ], + "min_active_finger_to_button": 0.14575776694384682, + "closest_active_finger": [ + 0.033445701003074646, + -0.5046680569648743, + 0.8102987408638 + ], + "closest_active_finger_button": [ + 0.16131742298603052, + -0.4436304569244384, + 0.7761145234107971 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12787172198295588, + -0.061037600040435847, + 0.03418421745300293 + ], + "min_contact_pad_to_button": 0.020920350738149452, + "closest_contact_pad": [ + 0.16125081479549402, + -0.4449618014409667, + 0.7889473829358649 + ], + "closest_contact_pad_button": [ + 0.16125081479549402, + -0.4435961842536926, + 0.7680716514587402 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013656171872740708, + 0.020875731477124626 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a0d00affc6908082b9881ba055afbd38b21c97992081817d6a33044a399fe6f", + "visual_seed": 1330046755370638132, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f5998340357907775fe689548124c0eb7965f70 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_62_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2300065343324973, + -0.05518329713315852, + 0.9967087050863433 + ], + "current_z": 0.9967087050863433, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.14012219767777767, + "gripper_z": 0.9997189327691116, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2256393625185207, + -0.05964673923511571, + 0.9997189327691116 + ], + "object_minus_gripper": [ + 0.004367171813976584, + 0.004463442101957191, + -0.003010227682768263 + ], + "object_to_gripper_xy": 0.006244558034826448, + "object_to_gripper_z": -0.003010227682768263, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2300065343324973, + -0.0790261378793889, + 0.9967087050863433 + ], + "finger_b": [ + 0.21885608226218836, + -0.05518329713315852, + 0.9967087050863433 + ], + "finger_midpoint": [ + 0.2244313082973428, + -0.06710471750627371, + 0.9967087050863433 + ], + "object_minus_finger_midpoint": [ + 0.005575226035154479, + 0.011921420373115194, + 0.0 + ], + "finger_gap": 0.026321353236913196, + "fingertip_max_gap": 0.09333232529714575, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013160676618456603, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9967087050863433, + "object_top_z": 1.0424753425988325, + "finger_top_clearance": 0.045766637512489106, + "fingertip_min_top_clearance": 0.013729991253746698, + "object_projection_between_fingers": 0.8205396446146856, + "object_to_finger_line_xy": 0.01010048573748896, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049166162648572875, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.498250461111598, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15994528550762738, + 0.2396238352821774, + 0.7611066272240556 + ], + "gripper_position": [ + 0.16229221722187206, + 0.20072376319322396, + 1.0167360989669092 + ], + "target_minus_gripper": [ + -0.0023469317142446877, + 0.038900072088953436, + -0.25562947174285355 + ], + "held_position": [ + 0.16677654442832823, + 0.20495604041088433, + 1.0135663603946359 + ], + "held_minus_target": [ + 0.006831258920700856, + -0.03466779487129307, + 0.25245973317058024 + ], + "held_minus_gripper": [ + 0.004484327206456168, + 0.0042322772176603685, + -0.0031697385722733173 + ], + "xy_dist": 0.038970805701154056, + "held_xy_dist": 0.03533443221108426, + "held_gripper_dist": 0.006933152497835834, + "max_held_gripper_dist": 0.006951236355459446, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240556, + "held_z": 1.0135663603946359, + "required_height": 0.7911066272240557, + "gripper_z": 1.0167360989669092, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17235633282033, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8908743218037938, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.071567210016845, + "max_source_tilt_deg": 89.92476208350611, + "source_upright_tilt_deg": 2.129111328477083, + "max_source_upright_tilt_deg": 89.94828440596004, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.071567210016845, + "source_upright_return_tilt_deg": 2.129111328477083, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 3.1610136383170525e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1599, + 0.2396, + 0.7611 + ], + "controller_target_position": [ + 0.1599, + 0.2396, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0006, + -0.0014, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.1594, + 0.2128, + 1.0256 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0643, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005596722488413594, + -0.001407989155084931, + -0.0008484377351605673 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.129115777408182, + "source_return_step_error_deg": 2.0715688497066407, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1323010131257174, + "source_return_best_wrist_position": -1.6096177101135254, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096177101135254 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1599, + 0.2396, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1599, + 0.2396, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0006, + -0.0014, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1594, + 0.2128, + 1.0256 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0643, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005596722488413594, + -0.001407989155084931, + -0.0008484377351605673 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.129115777408182, + "pour_controller_source_return_step_error_deg": 2.0715688497066407, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1323010131257174, + "pour_controller_source_return_best_wrist_position": -1.6096177101135254, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096177101135254, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038970805701154056, + "valid_pour_held_xy_dist": 0.03533443221108426, + "valid_pour_held_gripper_dist": 0.006933152497835834, + "valid_pour_required_height": 0.7911066272240557, + "valid_pour_held_z": 1.0135663603946359, + "valid_pour_source_tilt_deg": 2.071567210016845, + "valid_pour_source_upright_tilt_deg": 2.129111328477083, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16677654442832823, + 0.1811880237502973, + 1.0135663603946359 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1562392124087708, + 0.20495604041088433, + 1.0135663603946359 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16150787841854952, + 0.19307203208059082, + 1.0135663603946359 + ], + "valid_pour_held_grasp_object_position": [ + 0.16677654442832823, + 0.20495604041088433, + 1.0135663603946359 + ], + "valid_pour_held_grasp_finger_gap": 0.025999115024714456, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023944010519368494, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01825907982589066, + -0.9993096551576068, + 0.0323545841063787 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005498130795406728, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03342062169262354, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16677654442832823, + 0.1811880237502973, + 1.0135663603946359 + ], + "held_grasp_finger_b": [ + 0.1562392124087708, + 0.20495604041088433, + 1.0135663603946359 + ], + "held_grasp_midpoint": [ + 0.16150787841854952, + 0.19307203208059082, + 1.0135663603946359 + ], + "held_grasp_object_position": [ + 0.16677654442832823, + 0.20495604041088433, + 1.0135663603946359 + ], + "held_grasp_finger_gap": 0.025999115024714456, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023944010519368494, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01825907982589066, + -0.9993096551576068, + 0.0323545841063787 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005498130795406728, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03342062169262354, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2051292187503777, + -0.05308408771527591, + 0.7565864033504918 + ], + "target_position": [ + 0.20915908256158208, + -0.05674509886691879, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005444520639074497, + "xy_threshold": 0.08, + "gripper_dist": 0.21268092638944763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864033504918, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535104396999902, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873488316145717, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18503177490160247, + "release_required_pad_clearance": 0.05367441580728585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3580435142655536, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1669391607420033, + 0.2338540795740475, + 1.161809601801031 + ], + "current_z": 1.161809601801031, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3007029745769756, + "gripper_z": 1.155482302373757, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16392794274446237, + 0.2299171282070613, + 1.155482302373757 + ], + "object_minus_gripper": [ + 0.0030112179975409215, + 0.0039369513669861855, + 0.006327299427274058 + ], + "object_to_gripper_xy": 0.0049565128764816856, + "object_to_gripper_z": 0.006327299427274058, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1669391607420033, + 0.21054500564716885, + 1.161809601801031 + ], + "finger_b": [ + 0.15813487837472787, + 0.2338540795740475, + 1.161809601801031 + ], + "finger_midpoint": [ + 0.16253701955836558, + 0.22219954261060818, + 1.161809601801031 + ], + "object_minus_finger_midpoint": [ + 0.0044021411836377144, + 0.011654536963439321, + 0.0 + ], + "finger_gap": 0.02491642661641935, + "fingertip_max_gap": 0.09171046274570788, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012458213308209676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161809601801031, + "object_top_z": 1.2119405873592148, + "finger_top_clearance": 0.05013098555818374, + "fingertip_min_top_clearance": 0.015039295667455155, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012458213308209676, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835523137285394, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.128446442693416, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3107717519996882, + -0.3835785541808495, + 0.8515395976989204 + ], + "target_position": [ + 0.30639912393940427, + -0.3827566524344467, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004449202022197068, + "xy_threshold": 0.08, + "gripper_dist": 0.18200235662780959, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395976989204, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588585584865881, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08761263859753197, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14883616949889747, + "release_required_pad_clearance": 0.05380631929876599, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6217958327146, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00848841667175293, + "max_z_decrease": 0.00848841667175293, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504827202609711, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00848841667175293, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020830920700297906, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00848841667175293, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008488664142668058, + "max_button_displacement": 0.12, + "button_start": [ + 0.16209904849529266, + -0.43901810050010687, + 0.7768088579177856 + ], + "button_final": [ + 0.16209904849529266, + -0.43901810050010687, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16097413744191827, + -0.4372306188548827, + 0.8033072937120664 + ], + "closest_button": [ + 0.16203442215919495, + -0.4390131235122681, + 0.7683204412460327 + ], + "closest_ee_minus_button": [ + -0.0010602847172766772, + 0.001782504657385442, + 0.034986852466033724 + ], + "button_min_z_position": [ + 0.16203442215919495, + -0.4390131235122681, + 0.7683204412460327 + ], + "min_active_finger_to_button": 0.14599779120623924, + "closest_active_finger": [ + 0.03428604453802109, + -0.5007994174957275, + 0.8105361461639404 + ], + "closest_active_finger_button": [ + 0.1620946079492569, + -0.43901935219764715, + 0.776425302028656 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1278085634112358, + -0.06178006529808039, + 0.034110844135284424 + ], + "min_contact_pad_to_button": 0.020830920700297906, + "closest_contact_pad": [ + 0.16203442215919495, + -0.4390131235122681, + 0.7891513619463306 + ], + "closest_contact_pad_button": [ + 0.16203442215919495, + -0.4390131235122681, + 0.7683204412460327 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020830920700297906 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "857edb1fd51b27919405d04d26d8e53bfeee666ad05d5e035fcd4ef8b9b12ce9", + "visual_seed": 7399301184244624110, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b0dbd188f6651481138edf1a327806fa7de12420 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_63_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23537351859046832, + -0.05240375474622656, + 0.9963968167812638 + ], + "current_z": 0.9963968167812638, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.139810368977343, + "gripper_z": 0.9993485703033274, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23103180084084254, + -0.056862866235871515, + 0.9993485703033274 + ], + "object_minus_gripper": [ + 0.004341717749625773, + 0.004459111489644958, + -0.0029517535220635605 + ], + "object_to_gripper_xy": 0.006223679642663106, + "object_to_gripper_z": -0.0029517535220635605, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23537351859046832, + -0.07620405238797964, + 0.9963968167812638 + ], + "finger_b": [ + 0.22421858065444358, + -0.05240375474622656, + 0.9963968167812638 + ], + "finger_midpoint": [ + 0.22979604962245595, + -0.0643039035671031, + 0.9963968167812638 + ], + "object_minus_finger_midpoint": [ + 0.005577468968012367, + 0.01190014882087654, + 0.0 + ], + "finger_gap": 0.026284725758367752, + "fingertip_max_gap": 0.09347396740896399, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013142362879183873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9963968167812638, + "object_top_z": 1.0422166064157727, + "finger_top_clearance": 0.045819789634508945, + "fingertip_min_top_clearance": 0.013745936890352682, + "object_projection_between_fingers": 0.8198943171572685, + "object_to_finger_line_xy": 0.010100574968645139, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049236983704482, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.523819820023174, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15755381304878802, + 0.23100253005489785, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16178999569408842, + 0.19207619212494287, + 1.017246042189019 + ], + "target_minus_gripper": [ + -0.0042361826453004015, + 0.03892633792995498, + -0.2561396533835426 + ], + "held_position": [ + 0.1662542689452201, + 0.19629727880160955, + 1.0141304077888964 + ], + "held_minus_target": [ + 0.008700455896432091, + -0.0347052512532883, + 0.25302401898342 + ], + "held_minus_gripper": [ + 0.00446427325113169, + 0.00422108667666668, + -0.0031156344001226355 + ], + "xy_dist": 0.03915616206986323, + "held_xy_dist": 0.03577921739445441, + "held_gripper_dist": 0.006888721659925766, + "max_held_gripper_dist": 0.0069031016162637215, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0141304077888964, + "required_height": 0.7911063888054765, + "gripper_z": 1.017246042189019, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17724674826606, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8238831844125418, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.049220980424845, + "max_source_tilt_deg": 89.76416486648705, + "source_upright_tilt_deg": 2.0840621617261212, + "max_source_upright_tilt_deg": 89.99554653651751, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.049220980424845, + "source_upright_return_tilt_deg": 2.0840621617261212, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.0848209096909341e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1576, + 0.231, + 0.7611 + ], + "controller_target_position": [ + 0.1576, + 0.231, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0019, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.159, + 0.2038, + 1.027 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0642, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014837689058675636, + -0.0018936666983426704, + 0.0005448991484123871 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.0840691376698466, + "source_return_step_error_deg": 2.0492288958602964, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0848498911186866, + "source_return_best_wrist_position": -1.6093217134475708, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093217134475708 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1576, + 0.231, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1576, + 0.231, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0019, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.159, + 0.2038, + 1.027 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0642, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014837689058675636, + -0.0018936666983426704, + 0.0005448991484123871 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.0840691376698466, + "pour_controller_source_return_step_error_deg": 2.0492288958602964, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0848498911186866, + "pour_controller_source_return_best_wrist_position": -1.6093217134475708, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093217134475708, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03915616206986323, + "valid_pour_held_xy_dist": 0.03577921739445441, + "valid_pour_held_gripper_dist": 0.006888721659925766, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0141304077888964, + "valid_pour_source_tilt_deg": 2.049220980424845, + "valid_pour_source_upright_tilt_deg": 2.0840621617261212, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1662542689452201, + 0.1725290151427266, + 1.0141304077888964 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1557407162549268, + 0.19629727880160955, + 1.0141304077888964 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16099749260007346, + 0.18441314697216807, + 1.0141304077888964 + ], + "valid_pour_held_grasp_object_position": [ + 0.1662542689452201, + 0.19629727880160955, + 1.0141304077888964 + ], + "valid_pour_held_grasp_finger_gap": 0.025989712340265522, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023931473507850243, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017019100132994968, + -0.9993385567726795, + 0.032137193065999714 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005471517326811129, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033413419417875276, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1662542689452201, + 0.1725290151427266, + 1.0141304077888964 + ], + "held_grasp_finger_b": [ + 0.1557407162549268, + 0.19629727880160955, + 1.0141304077888964 + ], + "held_grasp_midpoint": [ + 0.16099749260007346, + 0.18441314697216807, + 1.0141304077888964 + ], + "held_grasp_object_position": [ + 0.1662542689452201, + 0.19629727880160955, + 1.0141304077888964 + ], + "held_grasp_finger_gap": 0.025989712340265522, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023931473507850243, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017019100132994968, + -0.9993385567726795, + 0.032137193065999714 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005471517326811129, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033413419417875276, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22294326161810837, + -0.06075687245331137, + 0.7565865009289431 + ], + "target_position": [ + 0.2141057407421884, + -0.0556589081865956, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010202500423770244, + "xy_threshold": 0.08, + "gripper_dist": 0.220417478123606, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865009289431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583426634001511, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516991683440318, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18917247594512615, + "release_required_pad_clearance": 0.052584958417201594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23406760756100017, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16447113059654786, + 0.2282191402004675, + 1.1608556278232376 + ], + "current_z": 1.1608556278232376, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.2997491794131164, + "gripper_z": 1.1547546051483812, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16158991677850554, + 0.2243647585528224, + 1.1547546051483812 + ], + "object_minus_gripper": [ + 0.002881213818042322, + 0.0038543816476450943, + 0.006101022674856349 + ], + "object_to_gripper_xy": 0.004812239702153388, + "object_to_gripper_z": 0.006101022674856349, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16447113059654786, + 0.20511812237608074, + 1.1608556278232376 + ], + "finger_b": [ + 0.15564252567902803, + 0.2282191402004675, + 1.1608556278232376 + ], + "finger_midpoint": [ + 0.16005682813778793, + 0.21666863128827413, + 1.1608556278232376 + ], + "object_minus_finger_midpoint": [ + 0.004414302458759928, + 0.011550508912193364, + 0.0 + ], + "finger_gap": 0.02473057397862593, + "fingertip_max_gap": 0.09118329495575853, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012365286989312956, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608556278232376, + "object_top_z": 1.2108081027808777, + "finger_top_clearance": 0.0499524749576401, + "fingertip_min_top_clearance": 0.014985742487291996, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012365286989312956, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048091647477879265, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7150953422278482, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 365, + "max_stable_success_frames": 365, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3102331342834567, + -0.3810861877214605, + 0.851539561363241 + ], + "target_position": [ + 0.3052552420488444, + -0.38179452505693784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005028036682468085, + "xy_threshold": 0.08, + "gripper_dist": 0.1824455304837843, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539561363241, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577884121290175, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08530160342411273, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14982194512901634, + "release_required_pad_clearance": 0.05265080171205637, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36045155411249996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008435428142547607, + "max_z_decrease": 0.008435428142547607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035033814265160175, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008435428142547607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.0208497596486229, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008435428142547607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008435887124543788, + "max_button_displacement": 0.12, + "button_start": [ + 0.16095516085624695, + -0.43805599212646484, + 0.7768088579177856 + ], + "button_final": [ + 0.16095516085624695, + -0.43805599212646484, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1600019891089836, + -0.43651795862253, + 0.8033628189798147 + ], + "closest_button": [ + 0.16086716949939728, + -0.4380549192428589, + 0.768373429775238 + ], + "closest_ee_minus_button": [ + -0.0008651803904136668, + 0.0015369606203288755, + 0.034989389204576615 + ], + "button_min_z_position": [ + 0.16086716949939728, + -0.4380549192428589, + 0.768373429775238 + ], + "min_active_finger_to_button": 0.14595350673367508, + "closest_active_finger": [ + 0.03311842679977417, + -0.4996827244758606, + 0.8105716705322266 + ], + "closest_active_finger_button": [ + 0.1609499454498291, + -0.43805623054504395, + 0.7764585614204407 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12783151865005493, + -0.06162649393081665, + 0.03411310911178589 + ], + "min_contact_pad_to_button": 0.0208497596486229, + "closest_contact_pad": [ + 0.16086716949939728, + -0.4380549192428589, + 0.7892231894238609 + ], + "closest_contact_pad_button": [ + 0.16086716949939728, + -0.4380549192428589, + 0.768373429775238 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.0208497596486229 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "845dfbc9d8fae1bc339cd34444c57109a59db7627aeed2c35db8b473fa4202b3", + "visual_seed": 1675965181365785388, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2edc462e46de8c98d769ba0f4ccdf004d1e8a5da --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_64_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23064394636876268, + -0.049647814958366156, + 0.9971122083677006 + ], + "current_z": 0.9971122083677006, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14052570095913508, + "gripper_z": 1.000113621648897, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22613687009025799, + -0.05423478864820898, + 1.000113621648897 + ], + "object_minus_gripper": [ + 0.00450707627850469, + 0.004586973689842823, + -0.003001413281196408 + ], + "object_to_gripper_xy": 0.006430712574168587, + "object_to_gripper_z": -0.003001413281196408, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23064394636876268, + -0.07355665607200138, + 0.9971122083677006 + ], + "finger_b": [ + 0.21929365245248084, + -0.049647814958366156, + 0.9971122083677006 + ], + "finger_midpoint": [ + 0.22496879941062176, + -0.06160223551518376, + 0.9971122083677006 + ], + "object_minus_finger_midpoint": [ + 0.00567514695814092, + 0.011954420556817606, + 0.0 + ], + "finger_gap": 0.026466239917733655, + "fingertip_max_gap": 0.09268429083687779, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013233119958866824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971122083677006, + "object_top_z": 1.0429971637165183, + "finger_top_clearance": 0.045884955348817646, + "fingertip_min_top_clearance": 0.013765486604645294, + "object_projection_between_fingers": 0.8160796751515669, + "object_to_finger_line_xy": 0.010253529578850775, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488421454184389, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8299307152282722, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1641551168646297, + 0.22983176072105846, + 0.7611063292008317 + ], + "gripper_position": [ + 0.16775643799969067, + 0.19156094516140473, + 1.0167321618520466 + ], + "target_minus_gripper": [ + -0.003601321135060981, + 0.038270815559653726, + -0.25562583265121497 + ], + "held_position": [ + 0.17232356383312647, + 0.1959743265925234, + 1.0135642057521612 + ], + "held_minus_target": [ + 0.008168446968496779, + -0.03385743412853506, + 0.25245787655132956 + ], + "held_minus_gripper": [ + 0.004567125833435798, + 0.0044133814311186625, + -0.003167956099885405 + ], + "xy_dist": 0.038439886023749745, + "held_xy_dist": 0.03482885831670678, + "held_gripper_dist": 0.007097360064543773, + "max_held_gripper_dist": 0.007101646359299457, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0135642057521612, + "required_height": 0.7911063292008317, + "gripper_z": 1.0167321618520466, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18367395627503, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0255488836525335, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8520944841673004, + "max_source_tilt_deg": 89.73051155602286, + "source_upright_tilt_deg": 1.9984506858278959, + "max_source_upright_tilt_deg": 89.88401284540754, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8520944841673004, + "source_upright_return_tilt_deg": 1.9984506858278959, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.996002811937585e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1642, + 0.2298, + 0.7611 + ], + "controller_target_position": [ + 0.1642, + 0.2298, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + -0.0005, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.1659, + 0.2039, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0673, + 0.0641, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017023870182084756, + -0.00048034015462974553, + -0.000782232424911076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.9984528818840233, + "source_return_step_error_deg": 1.852102691169444, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9987868322080404, + "source_return_best_wrist_position": -1.6094632148742676, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094632148742676 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1642, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1642, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + -0.0005, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1659, + 0.2039, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0673, + 0.0641, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017023870182084756, + -0.00048034015462974553, + -0.000782232424911076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.9984528818840233, + "pour_controller_source_return_step_error_deg": 1.852102691169444, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9987868322080404, + "pour_controller_source_return_best_wrist_position": -1.6094632148742676, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094632148742676, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038439886023749745, + "valid_pour_held_xy_dist": 0.03482885831670678, + "valid_pour_held_gripper_dist": 0.007097360064543773, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0135642057521612, + "valid_pour_source_tilt_deg": 1.8520944841673004, + "valid_pour_source_upright_tilt_deg": 1.9984506858278959, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17232356383312647, + 0.17234068266188504, + 1.0135642057521612 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16126564728644188, + 0.1959743265925234, + 1.0135642057521612 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16679460555978418, + 0.1841575046272042, + 1.0135642057521612 + ], + "valid_pour_held_grasp_object_position": [ + 0.17232356383312647, + 0.1959743265925234, + 1.0135642057521612 + ], + "valid_pour_held_grasp_finger_gap": 0.026092654977859956, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023827815245030953, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018859412772180142, + -0.9993917781699752, + 0.029332512271263215 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00576117747047521, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349486315584955, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17232356383312647, + 0.17234068266188504, + 1.0135642057521612 + ], + "held_grasp_finger_b": [ + 0.16126564728644188, + 0.1959743265925234, + 1.0135642057521612 + ], + "held_grasp_midpoint": [ + 0.16679460555978418, + 0.1841575046272042, + 1.0135642057521612 + ], + "held_grasp_object_position": [ + 0.17232356383312647, + 0.1959743265925234, + 1.0135642057521612 + ], + "held_grasp_finger_gap": 0.026092654977859956, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023827815245030953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018859412772180142, + -0.9993917781699752, + 0.029332512271263215 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00576117747047521, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349486315584955, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21264073728776034, + -0.05755681766002696, + 0.7565863817682035 + ], + "target_position": [ + 0.20957706466461634, + -0.05058189440254417, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007618112915255089, + "xy_threshold": 0.08, + "gripper_dist": 0.21928528766277086, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863817682035, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521886098462366, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787907352144965, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18922474414161852, + "release_required_pad_clearance": 0.05393953676072483, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8891111479565064, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17135053913592113, + 0.22606815759873317, + 1.1624979315420891 + ], + "current_z": 1.1624979315420891, + "required_z": 0.8611062695961869, + "initial_z": 0.7611062695961869, + "lift_margin": 0.3013916619459023, + "gripper_z": 1.1560339656230982, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16829674964582453, + 0.22209027098710804, + 1.1560339656230982 + ], + "object_minus_gripper": [ + 0.0030537894900966034, + 0.0039778866116251255, + 0.006463965918990899 + ], + "object_to_gripper_xy": 0.005014899016408097, + "object_to_gripper_z": 0.006463965918990899, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17135053913592113, + 0.20295786155614748, + 1.1624979315420891 + ], + "finger_b": [ + 0.1621874422033279, + 0.22606815759873317, + 1.1624979315420891 + ], + "finger_midpoint": [ + 0.16676899066962453, + 0.21451300957744032, + 1.1624979315420891 + ], + "object_minus_finger_midpoint": [ + 0.004581548466296603, + 0.011555148021292844, + 0.0 + ], + "finger_gap": 0.024860573778013477, + "fingertip_max_gap": 0.09136121191296684, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012430286889006733, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624979315420891, + "object_top_z": 1.2128635628172515, + "finger_top_clearance": 0.05036563127516236, + "fingertip_min_top_clearance": 0.015109689382548707, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012430286889006733, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818060595648342, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8576530917346741, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30616847874799563, + -0.3875787045069249, + 0.851539601150585 + ], + "target_position": [ + 0.30174670216537064, + -0.3875435379878436, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00442191642059357, + "xy_threshold": 0.08, + "gripper_dist": 0.18319287049459781, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539601150585, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518127088743004, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08727662138490387, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518896298584479, + "release_required_pad_clearance": 0.05363831069245194, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2865890336079064, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008529484272003174, + "max_z_decrease": 0.008529484272003174, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501457040715849, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008529484272003174, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020824533016995616, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008529484272003174, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008529642038531574, + "max_button_displacement": 0.12, + "button_start": [ + 0.1574466228485107, + -0.44380500912666315, + 0.7768088579177856 + ], + "button_final": [ + 0.1574466228485107, + -0.44380500912666315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1560934134040881, + -0.44309495002270355, + 0.8032625163778473 + ], + "closest_button": [ + 0.1573947668075561, + -0.443806529045105, + 0.7682793736457825 + ], + "closest_ee_minus_button": [ + -0.0013013534034679863, + 0.0007115790224014318, + 0.03498314273206482 + ], + "button_min_z_position": [ + 0.1573947668075561, + -0.443806529045105, + 0.7682793736457825 + ], + "min_active_finger_to_button": 0.14666650464957953, + "closest_active_finger": [ + 0.02981918305158615, + -0.5075138211250305, + 0.8105869889259338 + ], + "closest_active_finger_button": [ + 0.15743993222713465, + -0.44380524754524225, + 0.776451587677002 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1276207491755485, + -0.06370857357978826, + 0.034135401248931885 + ], + "min_contact_pad_to_button": 0.020824533016995616, + "closest_contact_pad": [ + 0.1573947668075561, + -0.4441277447385172, + 0.7891014291604104 + ], + "closest_contact_pad_button": [ + 0.1573947668075561, + -0.443806529045105, + 0.7682793736457825 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00032121569341220235, + 0.020822055514627902 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "37cef81241bb37ddb79c2a5aeecd69c9190fb650865881af53f561787b880bb2", + "visual_seed": 8476255631204491078, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..063dface906139e270e1acf5b683410c07daedf9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_65_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23308793516727172, + -0.05479322677338908, + 0.9956580960771493 + ], + "current_z": 0.9956580960771493, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1390716482732285, + "gripper_z": 0.9980726063954705, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22866184983288845, + -0.05923377697199522, + 0.9980726063954705 + ], + "object_minus_gripper": [ + 0.004426085334383267, + 0.00444055019860614, + -0.0024145103183211836 + ], + "object_to_gripper_xy": 0.006269666454731358, + "object_to_gripper_z": -0.0024145103183211836, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23308793516727172, + -0.07885933257308332, + 0.9956580960771493 + ], + "finger_b": [ + 0.22222652397994394, + -0.05479322677338908, + 0.9956580960771493 + ], + "finger_midpoint": [ + 0.22765722957360784, + -0.0668262796732362, + 0.9956580960771493 + ], + "object_minus_finger_midpoint": [ + 0.005430705593663876, + 0.012033052899847123, + 0.0 + ], + "finger_gap": 0.02640355471034697, + "fingertip_max_gap": 0.09279568237659891, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013201777355173482, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9956580960771493, + "object_top_z": 1.0415164029754997, + "finger_top_clearance": 0.045858306898350465, + "fingertip_min_top_clearance": 0.013757492069505139, + "object_projection_between_fingers": 0.8307815506626938, + "object_to_finger_line_xy": 0.009899874226623712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889784118829946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9256821106018958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15955620128769488, + 0.23472051878437467, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16286322842254086, + 0.19637590039379682, + 1.0169730616049728 + ], + "target_minus_gripper": [ + -0.0033070271348459856, + 0.038344618390577845, + -0.2558666727994964 + ], + "held_position": [ + 0.16730798734506733, + 0.20070673452131363, + 1.0143912484100421 + ], + "held_minus_target": [ + 0.007751786057372451, + -0.034013784263061037, + 0.2532848596045657 + ], + "held_minus_gripper": [ + 0.004444758922526465, + 0.004330834127516808, + -0.002581813194930671 + ], + "xy_dist": 0.03848696127248354, + "held_xy_dist": 0.034885924195487965, + "held_gripper_dist": 0.0067214407304506535, + "max_held_gripper_dist": 0.006725386196296083, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0143912484100421, + "required_height": 0.7911063888054765, + "gripper_z": 1.0169730616049728, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17134546482316, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9692407440263298, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8785336709013212, + "max_source_tilt_deg": 89.69756522679324, + "source_upright_tilt_deg": 2.417912000339123, + "max_source_upright_tilt_deg": 89.67147088074985, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8785336709013212, + "source_upright_return_tilt_deg": 2.417912000339123, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.0536712127723508e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1596, + 0.2347, + 0.7611 + ], + "controller_target_position": [ + 0.1596, + 0.2347, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0007, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.1596, + 0.2086, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0648, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.812896656695986e-05, + -0.0007364278047713726, + -0.0007302281637409681 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.421020366098103, + "source_return_step_error_deg": 1.8861888725527838, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.421636853216971, + "source_return_best_wrist_position": -1.6090556383132935, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6090556383132935 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1596, + 0.2347, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1596, + 0.2347, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0007, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1596, + 0.2086, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0648, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 4.812896656695986e-05, + -0.0007364278047713726, + -0.0007302281637409681 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.421020366098103, + "pour_controller_source_return_step_error_deg": 1.8861888725527838, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.421636853216971, + "pour_controller_source_return_best_wrist_position": -1.6090556383132935, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6090556383132935, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03848696127248354, + "valid_pour_held_xy_dist": 0.034885924195487965, + "valid_pour_held_gripper_dist": 0.0067214407304506535, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0143912484100421, + "valid_pour_source_tilt_deg": 1.8785336709013212, + "valid_pour_source_upright_tilt_deg": 2.417912000339123, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16730798734506733, + 0.1770318978389205, + 1.0143912484100421 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15653158302859715, + 0.20070673452131363, + 1.0143912484100421 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16191978518683225, + 0.18886931618011707, + 1.0143912484100421 + ], + "valid_pour_held_grasp_object_position": [ + 0.16730798734506733, + 0.20070673452131363, + 1.0143912484100421 + ], + "valid_pour_held_grasp_finger_gap": 0.02601208914966316, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023972802576679556, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029605760887609946, + -0.9991096979709743, + 0.030055121736808466 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057471698433302085, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03353286732689262, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16730798734506733, + 0.1770318978389205, + 1.0143912484100421 + ], + "held_grasp_finger_b": [ + 0.15653158302859715, + 0.20070673452131363, + 1.0143912484100421 + ], + "held_grasp_midpoint": [ + 0.16191978518683225, + 0.18886931618011707, + 1.0143912484100421 + ], + "held_grasp_object_position": [ + 0.16730798734506733, + 0.20070673452131363, + 1.0143912484100421 + ], + "held_grasp_finger_gap": 0.02601208914966316, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023972802576679556, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029605760887609946, + -0.9991096979709743, + 0.030055121736808466 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057471698433302085, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03353286732689262, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20848766834951557, + -0.05520751906536964, + 0.7565861782514001 + ], + "target_position": [ + 0.21170074625891164, + -0.05727231514953008, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0038193261867786707, + "xy_threshold": 0.08, + "gripper_dist": 0.21590098978653516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861782514001, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576347227525622, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562890468991201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18719525685367464, + "release_required_pad_clearance": 0.052814452344956006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6737629267229287, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 270, + "max_placed_release_frames": 270 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16647915832496715, + 0.2325764763017848, + 1.163914253420797 + ], + "current_z": 1.163914253420797, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3028078050106757, + "gripper_z": 1.1576099596116034, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16356610102872407, + 0.2286749729405116, + 1.1576099596116034 + ], + "object_minus_gripper": [ + 0.0029130572962430823, + 0.0039015033612732064, + 0.006304293809193506 + ], + "object_to_gripper_xy": 0.004869048293991464, + "object_to_gripper_z": 0.006304293809193506, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16647915832496715, + 0.2094264990392206, + 1.163914253420797 + ], + "finger_b": [ + 0.15760843687125914, + 0.2325764763017848, + 1.163914253420797 + ], + "finger_midpoint": [ + 0.16204379759811316, + 0.2210014876705027, + 1.163914253420797 + ], + "object_minus_finger_midpoint": [ + 0.004435360726853993, + 0.01157498863128209, + 0.0 + ], + "finger_gap": 0.024791352249655833, + "fingertip_max_gap": 0.09129996318433767, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0123956761248279, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163914253420797, + "object_top_z": 1.213984853139534, + "finger_top_clearance": 0.050070599718737174, + "fingertip_min_top_clearance": 0.015021179915621118, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.0123956761248279, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048149981592168836, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8076403463980335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31094280398536095, + -0.3782416350770966, + 0.8515395883315606 + ], + "target_position": [ + 0.3069165979863899, + -0.3786031379534656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0040424026365236424, + "xy_threshold": 0.08, + "gripper_dist": 0.18300673052523816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395883315606, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585076898873507, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584015659897846, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1502376809336521, + "release_required_pad_clearance": 0.052920078299489234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8784806508013816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008366048336029053, + "max_z_decrease": 0.008366048336029053, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501481631945447, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008366048336029053, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02086712586258795, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008366048336029053, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008366195490867763, + "max_button_displacement": 0.12, + "button_start": [ + 0.16261652112007136, + -0.4348646104335785, + 0.7768088579177856 + ], + "button_final": [ + 0.16261652112007136, + -0.4348646104335785, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16098597087212177, + -0.4351153217800524, + 0.8037802518982357 + ], + "closest_button": [ + 0.1625337898731231, + -0.434857040643692, + 0.7688006162643433 + ], + "closest_ee_minus_button": [ + -0.0015478190010013437, + -0.0002582811363603943, + 0.03497963563389239 + ], + "button_min_z_position": [ + 0.16256810724735254, + -0.43485373258590704, + 0.7684428095817566 + ], + "min_active_finger_to_button": 0.14728082509115367, + "closest_active_finger": [ + 0.035134099423885345, + -0.5002622008323669, + 0.8106867671012878 + ], + "closest_active_finger_button": [ + 0.16261070966720578, + -0.43486690521240234, + 0.776557445526123 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12747661024332044, + -0.0653952956199646, + 0.034129321575164795 + ], + "min_contact_pad_to_button": 0.02086712586258795, + "closest_contact_pad": [ + 0.16256810724735254, + -0.4360691237513834, + 0.7892745105703933 + ], + "closest_contact_pad_button": [ + 0.16256810724735254, + -0.43485373258590704, + 0.7684428095817566 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001215391165476365, + 0.020831700988636737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d754d41a8b30cecd0992670a26a483acd400f1265250a0e911329f5c6e106afd", + "visual_seed": 7343874094411369531, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a72666fe59ab1ab03fbb3c4980940c3c57216697 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_67_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23612433781965894, + -0.054658685022001455, + 0.996091625501966 + ], + "current_z": 0.996091625501966, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13950511809340038, + "gripper_z": 0.9986671262107858, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23172351699163626, + -0.05907264577406844, + 0.9986671262107858 + ], + "object_minus_gripper": [ + 0.004400820828022678, + 0.004413960752066987, + -0.0025755007088198445 + ], + "object_to_gripper_xy": 0.00623299875510544, + "object_to_gripper_z": -0.0025755007088198445, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23612433781965894, + -0.0786389894399275, + 0.996091625501966 + ], + "finger_b": [ + 0.22520101142577703, + -0.054658685022001455, + 0.996091625501966 + ], + "finger_midpoint": [ + 0.230662674622718, + -0.06664883723096449, + 0.996091625501966 + ], + "object_minus_finger_midpoint": [ + 0.005461663196940941, + 0.011990152208963031, + 0.0 + ], + "finger_gap": 0.026350978340161885, + "fingertip_max_gap": 0.09387869513333161, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013175489170080943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996091625501966, + "object_top_z": 1.0419239440643362, + "finger_top_clearance": 0.045832318562370244, + "fingertip_min_top_clearance": 0.013749695568711072, + "object_projection_between_fingers": 0.8281631378971734, + "object_to_finger_line_xy": 0.009940605953989236, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049439347566665806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.7389108642009066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15554278213638872, + 0.23480007608398867, + 0.7611062695961869 + ], + "gripper_position": [ + 0.1597879194998413, + 0.19621798208299518, + 1.0165537523625114 + ], + "target_minus_gripper": [ + -0.0042451373634525835, + 0.038582094000993494, + -0.25544748276632456 + ], + "held_position": [ + 0.16425361236728092, + 0.20046757621077393, + 1.013814886035321 + ], + "held_minus_target": [ + 0.008710830230892197, + -0.03433249987321474, + 0.2527086164391342 + ], + "held_minus_gripper": [ + 0.0044656928674396135, + 0.004249594127778755, + -0.002738866327190337 + ], + "xy_dist": 0.038814934867085364, + "held_xy_dist": 0.03542032059222101, + "held_gripper_dist": 0.006745580167440738, + "max_held_gripper_dist": 0.006749453232108684, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961869, + "held_z": 1.013814886035321, + "required_height": 0.7911062695961869, + "gripper_z": 1.0165537523625114, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17856497477587, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6489541733971835, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.999910801132095, + "max_source_tilt_deg": 89.69731117175154, + "source_upright_tilt_deg": 2.7417816787492035, + "max_source_upright_tilt_deg": 89.94635774262633, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.999910801132095, + "source_upright_return_tilt_deg": 2.7417816787492035, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.143906160044258e-08, + "max_target_xy_drift": 1.043081283569336e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1555, + 0.2348, + 0.7611 + ], + "controller_target_position": [ + 0.1555, + 0.2348, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0009, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.1568, + 0.2086, + 1.025 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0684, + 0.0654, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012478417232001438, + -0.0009390582868549937, + -0.001310250529381734 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.741781091595641, + "source_return_step_error_deg": 1.9999043042090372, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7459832927907577, + "source_return_best_wrist_position": -1.6092826128005981, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092826128005981 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1555, + 0.2348, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1555, + 0.2348, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0009, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1568, + 0.2086, + 1.025 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0684, + 0.0654, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012478417232001438, + -0.0009390582868549937, + -0.001310250529381734 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.741781091595641, + "pour_controller_source_return_step_error_deg": 1.9999043042090372, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7459832927907577, + "pour_controller_source_return_best_wrist_position": -1.6092826128005981, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092826128005981, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038814934867085364, + "valid_pour_held_xy_dist": 0.03542032059222101, + "valid_pour_held_gripper_dist": 0.006745580167440738, + "valid_pour_required_height": 0.7911062695961869, + "valid_pour_held_z": 1.013814886035321, + "valid_pour_source_tilt_deg": 1.999910801132095, + "valid_pour_source_upright_tilt_deg": 2.7417816787492035, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.143906160044258e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16425361236728092, + 0.1767208398115225, + 1.013814886035321 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15366616105583575, + 0.20046757621077393, + 1.013814886035321 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15895988671155833, + 0.18859420801114823, + 1.013814886035321 + ], + "valid_pour_held_grasp_object_position": [ + 0.16425361236728092, + 0.20046757621077393, + 1.013814886035321 + ], + "valid_pour_held_grasp_finger_gap": 0.0260000310555152, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024080975082697128, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03413686132139284, + -0.9988552669611913, + 0.033508661014898244 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005709626970787919, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033521159781628014, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16425361236728092, + 0.1767208398115225, + 1.013814886035321 + ], + "held_grasp_finger_b": [ + 0.15366616105583575, + 0.20046757621077393, + 1.013814886035321 + ], + "held_grasp_midpoint": [ + 0.15895988671155833, + 0.18859420801114823, + 1.013814886035321 + ], + "held_grasp_object_position": [ + 0.16425361236728092, + 0.20046757621077393, + 1.013814886035321 + ], + "held_grasp_finger_gap": 0.0260000310555152, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024080975082697128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03413686132139284, + -0.9988552669611913, + 0.033508661014898244 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005709626970787919, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033521159781628014, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1900255526047676, + -0.024374468677047324, + 0.7565879467738358 + ], + "target_position": [ + 0.21437891627631017, + -0.05586499725594568, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.03980878938496903, + "xy_threshold": 0.08, + "gripper_dist": 0.2020635353610619, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565879467738358, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.09125791534014673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0893741922005991, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829276489753792, + "release_required_pad_clearance": 0.05468709610029955, + "release_pad_clearance_ok": true, + "release_gap_ok": true, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.416478485004533, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 213, + "max_placed_release_frames": 213 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1625077954960654, + 0.23057158304400502, + 1.1619801509748928 + ], + "current_z": 1.1619801509748928, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.3008738217740612, + "gripper_z": 1.1557477219423011, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1596710057491601, + 0.22672409460951579, + 1.1557477219423011 + ], + "object_minus_gripper": [ + 0.002836789746905294, + 0.0038474884344892324, + 0.006232429032591691 + ], + "object_to_gripper_xy": 0.004780224191570454, + "object_to_gripper_z": 0.006232429032591691, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1625077954960654, + 0.2076736492812896, + 1.1619801509748928 + ], + "finger_b": [ + 0.15346711361740908, + 0.23057158304400502, + 1.1619801509748928 + ], + "finger_midpoint": [ + 0.15798745455673724, + 0.2191226161626473, + 1.1619801509748928 + ], + "object_minus_finger_midpoint": [ + 0.004520340939328155, + 0.011448966881357714, + 0.0 + ], + "finger_gap": 0.02461806855609854, + "fingertip_max_gap": 0.09099157022558899, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01230903427804927, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619801509748928, + "object_top_z": 1.2118624014381958, + "finger_top_clearance": 0.04988225046330297, + "fingertip_min_top_clearance": 0.01496467513899089, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01230903427804927, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047995785112794495, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6339948761849699, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30355943154474474, + -0.38282008310222193, + 0.8515395899930743 + ], + "target_position": [ + 0.29877477310679446, + -0.3828967997556488, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004785273431347666, + "xy_threshold": 0.08, + "gripper_dist": 0.1824557911628275, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395899930743, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538279013103001, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08582716575682518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15076868522239384, + "release_required_pad_clearance": 0.05291358287841259, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8659174007952618, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008613348007202148, + "max_z_decrease": 0.008613348007202148, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504302617177515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008613348007202148, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020870955810080805, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008613348007202148, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008613516519798197, + "max_button_displacement": 0.12, + "button_start": [ + 0.15447470545768738, + -0.43915826082229603, + 0.7768088579177856 + ], + "button_final": [ + 0.15447470545768738, + -0.43915826082229603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15498858404929947, + -0.43761880578293955, + 0.8032012039676865 + ], + "closest_button": [ + 0.15442612767219543, + -0.43913495540618885, + 0.7681955099105835 + ], + "closest_ee_minus_button": [ + 0.0005624563771040314, + 0.0015161496232493077, + 0.035005694057102965 + ], + "button_min_z_position": [ + 0.15442612767219543, + -0.43913495540618885, + 0.7681955099105835 + ], + "min_active_finger_to_button": 0.14467171198724113, + "closest_active_finger": [ + 0.027636460959911346, + -0.49981430172920227, + 0.8107708692550659 + ], + "closest_active_finger_button": [ + 0.15447153151035312, + -0.4391590058803557, + 0.77665776014328 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12683507055044177, + -0.06065529584884655, + 0.03411310911178589 + ], + "min_contact_pad_to_button": 0.020870955810080805, + "closest_contact_pad": [ + 0.15442612767219543, + -0.43913495540618885, + 0.7890664657206643 + ], + "closest_contact_pad_button": [ + 0.15442612767219543, + -0.43913495540618885, + 0.7681955099105835 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020870955810080805 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8ea06548ae1f843ff9b288ee570769a40aeca0e470d8c0d7fe07f05b53bdf230", + "visual_seed": 8679850422053395698, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ff9261412dd3ea1d2e1795c022b7128eea36131 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_68_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23928059211638095, + -0.04811939992754091, + 0.9962883075811045 + ], + "current_z": 0.9962883075811045, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1397018001725392, + "gripper_z": 0.9988835125434407, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23455471017578575, + -0.052737496478511794, + 0.9988835125434407 + ], + "object_minus_gripper": [ + 0.0047258819405952, + 0.004618096550970882, + -0.0025952049623361173 + ], + "object_to_gripper_xy": 0.006607630125130569, + "object_to_gripper_z": -0.0025952049623361173, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23928059211638095, + -0.07228089221518325, + 0.9962883075811045 + ], + "finger_b": [ + 0.22798027818955915, + -0.04811939992754091, + 0.9962883075811045 + ], + "finger_midpoint": [ + 0.23363043515297005, + -0.06020014607136208, + 0.9962883075811045 + ], + "object_minus_finger_midpoint": [ + 0.005650156963410896, + 0.012080746143821167, + 0.0 + ], + "finger_gap": 0.026673485044337992, + "fingertip_max_gap": 0.09247187898212086, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013336742522168996, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9962883075811045, + "object_top_z": 1.042027661732852, + "finger_top_clearance": 0.04573935415174757, + "fingertip_min_top_clearance": 0.01372180624552427, + "object_projection_between_fingers": 0.8205177554382642, + "object_to_finger_line_xy": 0.010236099532438078, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048735939491060434, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6212015799619808, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16027278322834582, + 0.23381884952053503, + 0.7611064484101212 + ], + "gripper_position": [ + 0.16384273349688075, + 0.197480935864617, + 1.0185844321888147 + ], + "target_minus_gripper": [ + -0.0035699502685349327, + 0.036337913655918014, + -0.25747798377869346 + ], + "held_position": [ + 0.1685827225766644, + 0.2019907769545482, + 1.015827690251962 + ], + "held_minus_target": [ + 0.008309939348318585, + -0.031828072565986826, + 0.25472124184184086 + ], + "held_minus_gripper": [ + 0.004739989079783652, + 0.004509841089931188, + -0.0027567419368526025 + ], + "xy_dist": 0.03651285408982384, + "held_xy_dist": 0.03289500410759143, + "held_gripper_dist": 0.0070997034613638505, + "max_held_gripper_dist": 0.0071035135911181515, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.015827690251962, + "required_height": 0.7911064484101212, + "gripper_z": 1.0185844321888147, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16887293634362, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4265266411152733, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8367960922025937, + "max_source_tilt_deg": 89.99984503705453, + "source_upright_tilt_deg": 2.4082327336369405, + "max_source_upright_tilt_deg": 89.95552130901798, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8367960922025937, + "source_upright_return_tilt_deg": 2.4082327336369405, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1603, + 0.2338, + 0.7611 + ], + "controller_target_position": [ + 0.1603, + 0.2338, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + 0.0003, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.1598, + 0.2088, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0649, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004258901396982386, + 0.00032773102059129597, + 0.0016339986482518261 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4082384620721276, + "source_return_step_error_deg": 1.836812271478714, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4128828961360065, + "source_return_best_wrist_position": -1.6087205410003662, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6087205410003662 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1603, + 0.2338, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1603, + 0.2338, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + 0.0003, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1598, + 0.2088, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0649, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004258901396982386, + 0.00032773102059129597, + 0.0016339986482518261 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4082384620721276, + "pour_controller_source_return_step_error_deg": 1.836812271478714, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4128828961360065, + "pour_controller_source_return_best_wrist_position": -1.6087205410003662, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6087205410003662, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03651285408982384, + "valid_pour_held_xy_dist": 0.03289500410759143, + "valid_pour_held_gripper_dist": 0.0070997034613638505, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.015827690251962, + "valid_pour_source_tilt_deg": 1.8367960922025937, + "valid_pour_source_upright_tilt_deg": 2.4082327336369405, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1685827225766644, + 0.178260703070268, + 1.015827690251962 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15733932260219893, + 0.2019907769545482, + 1.015827690251962 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16296102258943168, + 0.19012574001240812, + 1.015827690251962 + ], + "valid_pour_held_grasp_object_position": [ + 0.1685827225766644, + 0.2019907769545482, + 1.015827690251962 + ], + "valid_pour_held_grasp_finger_gap": 0.026258911811787005, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02400957982288911, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02672359522320162, + -0.9991168113785294, + 0.0324260185521863 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005949064546513817, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349589912421639, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1685827225766644, + 0.178260703070268, + 1.015827690251962 + ], + "held_grasp_finger_b": [ + 0.15733932260219893, + 0.2019907769545482, + 1.015827690251962 + ], + "held_grasp_midpoint": [ + 0.16296102258943168, + 0.19012574001240812, + 1.015827690251962 + ], + "held_grasp_object_position": [ + 0.1685827225766644, + 0.2019907769545482, + 1.015827690251962 + ], + "held_grasp_finger_gap": 0.026258911811787005, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02400957982288911, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02672359522320162, + -0.9991168113785294, + 0.0324260185521863 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005949064546513817, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349589912421639, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19826308202198956, + -0.05824702145442553, + 0.7565867954516914 + ], + "target_position": [ + 0.21670869236962098, + -0.05162332046606347, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.019598825369901023, + "xy_threshold": 0.08, + "gripper_dist": 0.2040740016884467, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867954516914, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754540919765051, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678524334418526, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17556330862351224, + "release_required_pad_clearance": 0.05339262167209263, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.800102809381605, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16721837745465518, + 0.228446901775396, + 1.1602805770799844 + ], + "current_z": 1.1602805770799844, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.2991741882745079, + "gripper_z": 1.153904010759844, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1642841087263391, + 0.22458830115940437, + 1.153904010759844 + ], + "object_minus_gripper": [ + 0.002934268728316064, + 0.0038586006159916364, + 0.006376566320140498 + ], + "object_to_gripper_xy": 0.004847549038813802, + "object_to_gripper_z": 0.006376566320140498, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16721837745465518, + 0.2052561938090027, + 1.1602805770799844 + ], + "finger_b": [ + 0.15845911323448114, + 0.228446901775396, + 1.1602805770799844 + ], + "finger_midpoint": [ + 0.16283874534456816, + 0.21685154779219934, + 1.1602805770799844 + ], + "object_minus_finger_midpoint": [ + 0.004379632110087017, + 0.011595353983196666, + 0.0 + ], + "finger_gap": 0.024789789141123387, + "fingertip_max_gap": 0.09095501321054486, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012394894570561704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1602805770799844, + "object_top_z": 1.2102025433972357, + "finger_top_clearance": 0.04992196631725121, + "fingertip_min_top_clearance": 0.014976589895175363, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012394894570561704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797750660527243, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6238276553924467, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 363, + "max_stable_success_frames": 363, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3072760052083022, + -0.38210042659725557, + 0.8515395818058293 + ], + "target_position": [ + 0.30205393776135187, + -0.38256866991744964, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005243018236417364, + "xy_threshold": 0.08, + "gripper_dist": 0.18341323841984847, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395818058293, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573452234212945, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851186287322178, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15078173698406633, + "release_required_pad_clearance": 0.0525593143661089, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18557482410876722, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00834512710571289, + "max_z_decrease": 0.00834512710571289, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501609493171599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00834512710571289, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020861915282841106, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00834512710571289, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008345298715339067, + "max_button_displacement": 0.12, + "button_start": [ + 0.1577538698911667, + -0.4388301372528076, + 0.7768088579177856 + ], + "button_final": [ + 0.1577538698911667, + -0.4388301372528076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15706914155849153, + -0.4377213896866279, + 0.803456988771392 + ], + "closest_button": [ + 0.1577022820711136, + -0.4388158917427063, + 0.7684637308120728 + ], + "closest_ee_minus_button": [ + -0.0006331405126220602, + 0.0010945020560784169, + 0.03499325795931929 + ], + "button_min_z_position": [ + 0.1577022820711136, + -0.4388158917427063, + 0.7684637308120728 + ], + "min_active_finger_to_button": 0.1458897423356441, + "closest_active_finger": [ + 0.029750563204288483, + -0.4999566674232483, + 0.8106487989425659 + ], + "closest_active_finger_button": [ + 0.15774962306022644, + -0.4388314485549927, + 0.7765347957611084 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12799905985593796, + -0.061125218868255615, + 0.03411400318145752 + ], + "min_contact_pad_to_button": 0.020861915282841106, + "closest_contact_pad": [ + 0.1577022820711136, + -0.4389686228739592, + 0.7893250870112748 + ], + "closest_contact_pad_button": [ + 0.1577022820711136, + -0.4388158917427063, + 0.7684637308120728 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0001527311312529145, + 0.02086135619920204 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "39e7bd8ec3b9a6282f78b6fb9bb862dd5466d920c60eeef30e7191555cf1e1b0", + "visual_seed": 8656038312791648194, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8a159131ae688d3501662a0a280146d3b4c9c97c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_69_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23533358020685796, + -0.057599188512454255, + 0.9968298114941032 + ], + "current_z": 0.9968298114941032, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14024336369018242, + "gripper_z": 0.9996124501444553, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23118878834094506, + -0.061979047284222474, + 0.9996124501444553 + ], + "object_minus_gripper": [ + 0.004144791865912906, + 0.004379858771768219, + -0.0027826386503521094 + ], + "object_to_gripper_xy": 0.006030129556848078, + "object_to_gripper_z": -0.0027826386503521094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23533358020685796, + -0.08121162071633425, + 0.9968298114941032 + ], + "finger_b": [ + 0.22421171113020255, + -0.057599188512454255, + 0.9968298114941032 + ], + "finger_midpoint": [ + 0.22977264566853026, + -0.06940540461439426, + 0.9968298114941032 + ], + "object_minus_finger_midpoint": [ + 0.005560934538327705, + 0.011806216101940006, + 0.0 + ], + "finger_gap": 0.026100630765195944, + "fingertip_max_gap": 0.09343480577069904, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01305031538259798, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968298114941032, + "object_top_z": 1.0425842444429265, + "finger_top_clearance": 0.04575443294882331, + "fingertip_min_top_clearance": 0.013726329884647009, + "object_projection_between_fingers": 0.818426046017643, + "object_to_finger_line_xy": 0.010061610461274371, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921740288534952, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.651398542319876, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16109787542481036, + 0.2345242555902905, + 0.7611063292008317 + ], + "gripper_position": [ + 0.16449598321193884, + 0.19873259332685683, + 1.0190152801024608 + ], + "target_minus_gripper": [ + -0.003398107787128485, + 0.035791662263433666, + -0.25790895090162913 + ], + "held_position": [ + 0.1687506997433365, + 0.20290302400581356, + 1.016078105974825 + ], + "held_minus_target": [ + 0.007652824318526152, + -0.03162123158447694, + 0.2549717767739933 + ], + "held_minus_gripper": [ + 0.004254716531397668, + 0.004170430678956727, + -0.002937174127635833 + ], + "xy_dist": 0.035952610810797106, + "held_xy_dist": 0.03253410528920916, + "held_gripper_dist": 0.006642446587409295, + "max_held_gripper_dist": 0.006646331916929774, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.016078105974825, + "required_height": 0.7911063292008317, + "gripper_z": 1.0190152801024608, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16861338915515, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6346214761608053, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9155295464468691, + "max_source_tilt_deg": 89.85611505680784, + "source_upright_tilt_deg": 2.2599925023064262, + "max_source_upright_tilt_deg": 89.71938868546107, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9155295464468691, + "source_upright_return_tilt_deg": 2.2599925023064262, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.043081283569336e-07, + "max_target_xy_drift": 1.5341684432308377e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1611, + 0.2345, + 0.7611 + ], + "controller_target_position": [ + 0.1611, + 0.2345, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + 0.0016, + 0.002 + ], + "controller_last_pour_pose_position": [ + 0.1626, + 0.2107, + 1.0285 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0646, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014794519901660365, + 0.001569307570287155, + 0.001982776202024571 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.259994386094848, + "source_return_step_error_deg": 1.9155158478332854, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.261118186360447, + "source_return_best_wrist_position": -1.6095224618911743, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095224618911743 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1611, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1611, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + 0.0016, + 0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1626, + 0.2107, + 1.0285 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0646, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014794519901660365, + 0.001569307570287155, + 0.001982776202024571 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.259994386094848, + "pour_controller_source_return_step_error_deg": 1.9155158478332854, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.261118186360447, + "pour_controller_source_return_best_wrist_position": -1.6095224618911743, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095224618911743, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035952610810797106, + "valid_pour_held_xy_dist": 0.03253410528920916, + "valid_pour_held_gripper_dist": 0.006642446587409295, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.016078105974825, + "valid_pour_source_tilt_deg": 1.9155295464468691, + "valid_pour_source_upright_tilt_deg": 2.2599925023064262, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.043081283569336e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1687506997433365, + 0.17937506622867302, + 1.016078105974825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15820842285463008, + 0.20290302400581356, + 1.016078105974825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16347956129898328, + 0.19113904511724328, + 1.016078105974825 + ], + "valid_pour_held_grasp_object_position": [ + 0.1687506997433365, + 0.20290302400581356, + 1.016078105974825 + ], + "valid_pour_held_grasp_finger_gap": 0.0257818618249548, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02375002321188828, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022800187450930022, + -0.9992221826200254, + 0.03217423211632386 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005550776417459741, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03356557924908875, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1687506997433365, + 0.17937506622867302, + 1.016078105974825 + ], + "held_grasp_finger_b": [ + 0.15820842285463008, + 0.20290302400581356, + 1.016078105974825 + ], + "held_grasp_midpoint": [ + 0.16347956129898328, + 0.19113904511724328, + 1.016078105974825 + ], + "held_grasp_object_position": [ + 0.1687506997433365, + 0.20290302400581356, + 1.016078105974825 + ], + "held_grasp_finger_gap": 0.0257818618249548, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02375002321188828, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022800187450930022, + -0.9992221826200254, + 0.03217423211632386 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005550776417459741, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03356557924908875, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20520617600042645, + -0.06801135582643192, + 0.7565870723297916 + ], + "target_position": [ + 0.2145101008875379, + -0.05826752639356484, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013472387699358223, + "xy_threshold": 0.08, + "gripper_dist": 0.21027524207066445, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870723297916, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535150455642482, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09022078308053934, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18049143865207892, + "release_required_pad_clearance": 0.05511039154026967, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.30110467752794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 268, + "max_placed_release_frames": 268 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16814557789980966, + 0.2316091147242365, + 1.1637734110331428 + ], + "current_z": 1.1637734110331428, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.30266708183231106, + "gripper_z": 1.157454758046736, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1651938700994673, + 0.227603575046045, + 1.157454758046736 + ], + "object_minus_gripper": [ + 0.0029517078003423736, + 0.004005539678191505, + 0.00631865298640677 + ], + "object_to_gripper_xy": 0.004975633331764763, + "object_to_gripper_z": 0.00631865298640677, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16814557789980966, + 0.2084831578935837, + 1.1637734110331428 + ], + "finger_b": [ + 0.1590457425031521, + 0.2316091147242365, + 1.1637734110331428 + ], + "finger_midpoint": [ + 0.16359566020148086, + 0.22004613630891012, + 1.1637734110331428 + ], + "object_minus_finger_midpoint": [ + 0.004549917698328798, + 0.011562978415326386, + 0.0 + ], + "finger_gap": 0.024851898993426616, + "fingertip_max_gap": 0.09142561601605226, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012425949496713301, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1637734110331428, + "object_top_z": 1.2140887070430089, + "finger_top_clearance": 0.05031529600986606, + "fingertip_min_top_clearance": 0.015094588802959817, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012425949496713301, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821280800802613, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9551894430348279, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30818420053287865, + -0.37777110283234283, + 0.8515395620534597 + ], + "target_position": [ + 0.30261866652721686, + -0.3784868444218016, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00561136835282257, + "xy_threshold": 0.08, + "gripper_dist": 0.1830533011439557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395620534597, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756093984018368, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628745952623089, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15081368309020987, + "release_required_pad_clearance": 0.053143729763115446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3128155507370616, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008604705333709717, + "max_z_decrease": 0.008604705333709717, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507929845920736, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008604705333709717, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02087656288655615, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008604705333709717, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008604868883000235, + "max_button_displacement": 0.12, + "button_start": [ + 0.15831859409809113, + -0.43474829196929937, + 0.7768088579177856 + ], + "button_final": [ + 0.15831859409809113, + -0.43474829196929937, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15943727698868612, + -0.4329130123169648, + 0.8032170748981935 + ], + "closest_button": [ + 0.15827006101608274, + -0.4347268640995026, + 0.7682041525840759 + ], + "closest_ee_minus_button": [ + 0.001167215972603386, + 0.0018138517825378453, + 0.03501292231411757 + ], + "button_min_z_position": [ + 0.15827006101608274, + -0.4347268640995026, + 0.7682041525840759 + ], + "min_active_finger_to_button": 0.14400476923793984, + "closest_active_finger": [ + 0.033155232667922974, + -0.49726298451423645, + 0.8108139038085938 + ], + "closest_active_finger_button": [ + 0.15831765532493589, + -0.4347482323646546, + 0.7767016291618347 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1251624226570129, + -0.06251475214958185, + 0.03411227464675903 + ], + "min_contact_pad_to_button": 0.02087656288655615, + "closest_contact_pad": [ + 0.15827006101608274, + -0.4347268640995026, + 0.7890807154706321 + ], + "closest_contact_pad_button": [ + 0.15827006101608274, + -0.4347268640995026, + 0.7682041525840759 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02087656288655615 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1ef132ae92d19fc523f0228a01387dba6f200441fbffd67fdc577ef4d793123", + "visual_seed": 6411947490010805690, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9a7d86eb91f0b3d523dc86a44d017c8c0e63ba76 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_6_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23444292644649192, + -0.04754331641344809, + 0.998025005251178 + ], + "current_z": 0.998025005251178, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14143849784261242, + "gripper_z": 1.0007768766109246, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23030744965351174, + -0.05189962828922727, + 1.0007768766109246 + ], + "object_minus_gripper": [ + 0.0041354767929801806, + 0.00435631187577918, + -0.002751871359746638 + ], + "object_to_gripper_xy": 0.0060066314573421565, + "object_to_gripper_z": -0.002751871359746638, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23444292644649192, + -0.07119557657303642, + 0.998025005251178 + ], + "finger_b": [ + 0.223434426281093, + -0.04754331641344809, + 0.998025005251178 + ], + "finger_midpoint": [ + 0.22893867636379245, + -0.05936944649324226, + 0.998025005251178 + ], + "object_minus_finger_midpoint": [ + 0.0055042500826994745, + 0.011826130079794168, + 0.0 + ], + "finger_gap": 0.026088627532862618, + "fingertip_max_gap": 0.09321679080668518, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013044313766431318, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.998025005251178, + "object_top_z": 1.044099091616652, + "finger_top_clearance": 0.04607408636547394, + "fingertip_min_top_clearance": 0.013822225909642183, + "object_projection_between_fingers": 0.8219451360836768, + "object_to_finger_line_xy": 0.009980437244193962, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049108395403342595, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.97059539767307, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16351052243370623, + 0.2343273963497586, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16764233101285686, + 0.1960370057007953, + 1.017824328922198 + ], + "target_minus_gripper": [ + -0.004131808579150631, + 0.03829039064896331, + -0.25671794011672155 + ], + "held_position": [ + 0.17183264427272885, + 0.20023401010366343, + 1.0149123774159727 + ], + "held_minus_target": [ + 0.008322121839022617, + -0.034093386246095175, + 0.2538059886104963 + ], + "held_minus_gripper": [ + 0.004190313259871986, + 0.004197004402868132, + -0.002911951506225252 + ], + "xy_dist": 0.03851267139767066, + "held_xy_dist": 0.035094396954912455, + "held_gripper_dist": 0.006607044176343987, + "max_held_gripper_dist": 0.006612014523660498, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0149123774159727, + "required_height": 0.7911063888054765, + "gripper_z": 1.017824328922198, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16898904955951, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0880150025737019, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8467642046466768, + "max_source_tilt_deg": 89.72094250424799, + "source_upright_tilt_deg": 2.015463285262007, + "max_source_upright_tilt_deg": 89.81471372962524, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8467642046466768, + "source_upright_return_tilt_deg": 2.015463285262007, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1635, + 0.2343, + 0.7611 + ], + "controller_target_position": [ + 0.1635, + 0.2343, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + -0.0018, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1653, + 0.2072, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0641, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018270502341851597, + -0.0017751855735515278, + 0.0016741078874150067 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.0154852698969647, + "source_return_step_error_deg": 1.8467941199892877, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.0130786139534482, + "source_return_best_wrist_position": -1.6090465784072876, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6090465784072876 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1635, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1635, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + -0.0018, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1653, + 0.2072, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0641, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018270502341851597, + -0.0017751855735515278, + 0.0016741078874150067 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.0154852698969647, + "pour_controller_source_return_step_error_deg": 1.8467941199892877, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.0130786139534482, + "pour_controller_source_return_best_wrist_position": -1.6090465784072876, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6090465784072876, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03851267139767066, + "valid_pour_held_xy_dist": 0.035094396954912455, + "valid_pour_held_gripper_dist": 0.006607044176343987, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0149123774159727, + "valid_pour_source_tilt_deg": 1.8467642046466768, + "valid_pour_source_upright_tilt_deg": 2.015463285262007, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17183264427272885, + 0.17684105554354734, + 1.0149123774159727 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16111412624449545, + 0.20023401010366343, + 1.0149123774159727 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16647338525861216, + 0.18853753282360539, + 1.0149123774159727 + ], + "valid_pour_held_grasp_object_position": [ + 0.17183264427272885, + 0.20023401010366343, + 1.0149123774159727 + ], + "valid_pour_held_grasp_finger_gap": 0.025731633290042442, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023605419126310586, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021172323718528056, + -0.9993813792419873, + 0.02808187195934808 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005615220638384687, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03362445133613212, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17183264427272885, + 0.17684105554354734, + 1.0149123774159727 + ], + "held_grasp_finger_b": [ + 0.16111412624449545, + 0.20023401010366343, + 1.0149123774159727 + ], + "held_grasp_midpoint": [ + 0.16647338525861216, + 0.18853753282360539, + 1.0149123774159727 + ], + "held_grasp_object_position": [ + 0.17183264427272885, + 0.20023401010366343, + 1.0149123774159727 + ], + "held_grasp_finger_gap": 0.025731633290042442, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023605419126310586, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021172323718528056, + -0.9993813792419873, + 0.02808187195934808 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005615220638384687, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03362445133613212, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21708446855620062, + -0.0501153453632393, + 0.7565892070921391 + ], + "target_position": [ + 0.21326681905415398, + -0.04872035194890685, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00406453617852121, + "xy_threshold": 0.08, + "gripper_dist": 0.2170255775678781, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565892070921391, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534564660574937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08560226924430873, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18779926722136847, + "release_required_pad_clearance": 0.05280113462215437, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6428377648696023, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17054999233564294, + 0.22983393847893122, + 1.1614050789782047 + ], + "current_z": 1.1614050789782047, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3002986305680835, + "gripper_z": 1.1549644621371817, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16762775112725445, + 0.2258398132482747, + 1.1549644621371817 + ], + "object_minus_gripper": [ + 0.002922241208388493, + 0.003994125230656509, + 0.006440616841022928 + ], + "object_to_gripper_xy": 0.004948992830684921, + "object_to_gripper_z": 0.006440616841022928, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17054999233564294, + 0.20668329189533213, + 1.1614050789782047 + ], + "finger_b": [ + 0.16152618948018763, + 0.22983393847893122, + 1.1614050789782047 + ], + "finger_midpoint": [ + 0.16603809090791527, + 0.2182586151871317, + 1.1614050789782047 + ], + "object_minus_finger_midpoint": [ + 0.0045119014277276714, + 0.011575323291799527, + 0.0 + ], + "finger_gap": 0.02484716191464996, + "fingertip_max_gap": 0.0917337906708684, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012423580957324971, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1614050789782047, + "object_top_z": 1.2116744742268344, + "finger_top_clearance": 0.05026939524862972, + "fingertip_min_top_clearance": 0.015080818574588916, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012423580957324971, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483668953354342, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0631341820225866, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3037708318302248, + -0.37947008952647615, + 0.8515395664443435 + ], + "target_position": [ + 0.2980945669314922, + -0.37985862040987634, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005689546506351737, + "xy_threshold": 0.08, + "gripper_dist": 0.1837638763320263, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395664443435, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557504324911052, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599365168091193, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15156037182924167, + "release_required_pad_clearance": 0.052996825840455966, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0271623213805758, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008465349674224854, + "max_z_decrease": 0.008465349674224854, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500301989199094, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008465349674224854, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020878090976056467, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008465349674224854, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008465546874278165, + "max_button_displacement": 0.12, + "button_start": [ + 0.15379449725151062, + -0.436120092868805, + 0.7768088579177856 + ], + "button_final": [ + 0.15379449725151062, + -0.436120092868805, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15376622907405588, + -0.4357511369669564, + 0.8033447198386295 + ], + "closest_button": [ + 0.15373849868774414, + -0.4361058473587037, + 0.7683435082435608 + ], + "closest_ee_minus_button": [ + 2.7730386311736188e-05, + 0.0003547103917473371, + 0.03500121159506875 + ], + "button_min_z_position": [ + 0.15373849868774414, + -0.4361058473587037, + 0.7683435082435608 + ], + "min_active_finger_to_button": 0.1456499655472451, + "closest_active_finger": [ + 0.027783438563346863, + -0.5006948113441467, + 0.8104484677314758 + ], + "closest_active_finger_button": [ + 0.15378831326961517, + -0.4361191391944885, + 0.7762919664382935 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260048747062683, + -0.0645756721496582, + 0.03415650129318237 + ], + "min_contact_pad_to_button": 0.020878090976056467, + "closest_contact_pad": [ + 0.15373849868774414, + -0.43673372641775965, + 0.7892121557965693 + ], + "closest_contact_pad_button": [ + 0.15373849868774414, + -0.4361058473587037, + 0.7683435082435608 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006278790590559247, + 0.020868647553008546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "615132941413c6055ff4778f7fa1d987defb03e97c48d2552540d58b3b17d396", + "visual_seed": 874536586311674860, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e1a53c491da827242bcfc1ad6139400cc173d715 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_70_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23233797624648864, + -0.05453477170115078, + 0.9978428113679906 + ], + "current_z": 0.9978428113679906, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14125624435478024, + "gripper_z": 1.0000814247356515, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22816006015463602, + -0.05887703055839742, + 1.0000814247356515 + ], + "object_minus_gripper": [ + 0.004177916091852613, + 0.004342258857246643, + -0.0022386133676609576 + ], + "object_to_gripper_xy": 0.006025794126411715, + "object_to_gripper_z": -0.0022386133676609576, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23233797624648864, + -0.07828653523451368, + 0.9978428113679906 + ], + "finger_b": [ + 0.22143294441081193, + -0.05453477170115078, + 0.9978428113679906 + ], + "finger_midpoint": [ + 0.22688546032865028, + -0.06641065346783223, + 0.9978428113679906 + ], + "object_minus_finger_midpoint": [ + 0.005452515917838352, + 0.011875881766681452, + 0.0 + ], + "finger_gap": 0.02613553118423098, + "fingertip_max_gap": 0.09301437629761691, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013067765592115494, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978428113679906, + "object_top_z": 1.0436658271599788, + "finger_top_clearance": 0.04582301579198822, + "fingertip_min_top_clearance": 0.013746904737596466, + "object_projection_between_fingers": 0.8259030298257964, + "object_to_finger_line_xy": 0.009910406475345137, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900718814880846, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1340095801105248, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15871847290653796, + 0.23261640031799752, + 0.7611063292008319 + ], + "gripper_position": [ + 0.16202723622446377, + 0.19420760556444688, + 1.016819922082756 + ], + "target_minus_gripper": [ + -0.003308763317925817, + 0.038408794753550635, + -0.2557135928819242 + ], + "held_position": [ + 0.1662702912198374, + 0.19839945507012124, + 1.014421412024528 + ], + "held_minus_target": [ + 0.007551818313299458, + -0.034216945247876274, + 0.2533150828236962 + ], + "held_minus_gripper": [ + 0.004243054995373641, + 0.004191849505674361, + -0.0023985100582279983 + ], + "xy_dist": 0.038551049649969714, + "held_xy_dist": 0.03504039528791374, + "held_gripper_dist": 0.0064286832610892, + "max_held_gripper_dist": 0.006432938625430457, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008319, + "held_z": 1.014421412024528, + "required_height": 0.7911063292008319, + "gripper_z": 1.016819922082756, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18100335230956, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5961031549933509, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8933560571308066, + "max_source_tilt_deg": 89.93024090817137, + "source_upright_tilt_deg": 2.210266081911545, + "max_source_upright_tilt_deg": 89.79688595124632, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8933560571308066, + "source_upright_return_tilt_deg": 2.210266081911545, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0745380149674383e-07, + "max_target_xy_drift": 3.9761257357333266e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1587, + 0.2326, + 0.7611 + ], + "controller_target_position": [ + 0.1587, + 0.2326, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + -0.001, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1589, + 0.2062, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0645, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001535139419501421, + -0.0010137467336034712, + -0.0005827008548569435 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2102716773645033, + "source_return_step_error_deg": 1.893368571628773, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2077727096787, + "source_return_best_wrist_position": -1.6095521450042725, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095521450042725 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1587, + 0.2326, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1587, + 0.2326, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + -0.001, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1589, + 0.2062, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0645, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0001535139419501421, + -0.0010137467336034712, + -0.0005827008548569435 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2102716773645033, + "pour_controller_source_return_step_error_deg": 1.893368571628773, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2077727096787, + "pour_controller_source_return_best_wrist_position": -1.6095521450042725, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095521450042725, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038551049649969714, + "valid_pour_held_xy_dist": 0.03504039528791374, + "valid_pour_held_gripper_dist": 0.0064286832610892, + "valid_pour_required_height": 0.7911063292008319, + "valid_pour_held_z": 1.014421412024528, + "valid_pour_source_tilt_deg": 1.8933560571308066, + "valid_pour_source_upright_tilt_deg": 2.210266081911545, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0745380149674383e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1662702912198374, + 0.17485391395091338, + 1.014421412024528 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1557197760377227, + 0.19839945507012124, + 1.014421412024528 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16099503362878004, + 0.1866266845105173, + 1.014421412024528 + ], + "valid_pour_held_grasp_object_position": [ + 0.1662702912198374, + 0.19839945507012124, + 1.014421412024528 + ], + "valid_pour_held_grasp_finger_gap": 0.025801276658420254, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02376525484382143, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022485242175380282, + -0.9992560305051972, + 0.031333678100584184 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00555078452933211, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033554828432844935, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1662702912198374, + 0.17485391395091338, + 1.014421412024528 + ], + "held_grasp_finger_b": [ + 0.1557197760377227, + 0.19839945507012124, + 1.014421412024528 + ], + "held_grasp_midpoint": [ + 0.16099503362878004, + 0.1866266845105173, + 1.014421412024528 + ], + "held_grasp_object_position": [ + 0.1662702912198374, + 0.19839945507012124, + 1.014421412024528 + ], + "held_grasp_finger_gap": 0.025801276658420254, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02376525484382143, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022485242175380282, + -0.9992560305051972, + 0.031333678100584184 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00555078452933211, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033554828432844935, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21903570291918514, + -0.05773872246222999, + 0.7565866514304955 + ], + "target_position": [ + 0.21154207586860285, + -0.056500763865545735, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007595195050841229, + "xy_threshold": 0.08, + "gripper_dist": 0.2218892318186946, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866514304955, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07594115687931582, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08551506202000077, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19132592962210754, + "release_required_pad_clearance": 0.052757531010000386, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5650972552922842, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16549919758622722, + 0.22696968399640377, + 1.1638896621902348 + ], + "current_z": 1.1638896621902348, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3027832733847582, + "gripper_z": 1.15742892789526, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1626666199069071, + 0.22320298110992173, + 1.15742892789526 + ], + "object_minus_gripper": [ + 0.0028325776793201307, + 0.0037667028864820373, + 0.006460734294974735 + ], + "object_to_gripper_xy": 0.004712912787694541, + "object_to_gripper_z": 0.006460734294974735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16549919758622722, + 0.20371047432996958, + 1.1638896621902348 + ], + "finger_b": [ + 0.1570424927761664, + 0.22696968399640377, + 1.1638896621902348 + ], + "finger_midpoint": [ + 0.1612708451811968, + 0.21534007916318668, + 1.1638896621902348 + ], + "object_minus_finger_midpoint": [ + 0.004228352405030417, + 0.011629604833217094, + 0.0 + ], + "finger_gap": 0.024748872510715548, + "fingertip_max_gap": 0.09109929966268179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012374436255357774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638896621902348, + "object_top_z": 1.2139173062672959, + "finger_top_clearance": 0.05002764407706106, + "fingertip_min_top_clearance": 0.015008293223118318, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012374436255357774, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0480496498313409, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6751995393209856, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3109125002221189, + -0.38345273244767575, + 0.8515395722661221 + ], + "target_position": [ + 0.30692573405820966, + -0.3832245588759421, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003993290325599852, + "xy_threshold": 0.08, + "gripper_dist": 0.1814113950063035, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395722661221, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545633039570024, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08832367031155162, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14945551850747812, + "release_required_pad_clearance": 0.054161835155775814, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.339058493823515, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008513867855072021, + "max_z_decrease": 0.008513867855072021, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503063952394895, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008513867855072021, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020823848029985506, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008513867855072021, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008513919994162913, + "max_button_displacement": 0.12, + "button_start": [ + 0.16262565553188327, + -0.439486026763916, + 0.7768088579177856 + ], + "button_final": [ + 0.16262565553188327, + -0.439486026763916, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16083498677760993, + -0.4385668502993031, + 0.8032694493938185 + ], + "closest_button": [ + 0.16259793937206268, + -0.4394750893115997, + 0.7682949900627136 + ], + "closest_ee_minus_button": [ + -0.001762952594452749, + 0.0009082390122965855, + 0.03497445933110488 + ], + "button_min_z_position": [ + 0.16259793937206268, + -0.4394750893115997, + 0.7682949900627136 + ], + "min_active_finger_to_button": 0.14692831962065536, + "closest_active_finger": [ + 0.0345335453748703, + -0.5028688907623291, + 0.8105279803276062 + ], + "closest_active_finger_button": [ + 0.16262002289295202, + -0.4394883513450622, + 0.7764003872871399 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12808647751808172, + -0.0633805394172669, + 0.03412759304046631 + ], + "min_contact_pad_to_button": 0.020823848029985506, + "closest_contact_pad": [ + 0.16259793937206268, + -0.4396093087669969, + 0.7891184055345742 + ], + "closest_contact_pad_button": [ + 0.16259793937206268, + -0.4394750893115997, + 0.7682949900627136 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00013421945539721092, + 0.020823415471860618 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c312128eff2e84b89437b9269d2805cbb11808c851b8a11e0aa99eb3d03bd01c", + "visual_seed": 5016852880897607317, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ce2b7f86b8e3f607a152207660afd16a2370798 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_71_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23706410680738735, + -0.04567573639533271, + 0.9978849901557696 + ], + "current_z": 0.9978849901557696, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.14129860195649357, + "gripper_z": 1.0002802214678121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23266640386725101, + -0.05007486805187766, + 1.0002802214678121 + ], + "object_minus_gripper": [ + 0.004397702940136333, + 0.004399131656544951, + -0.002395231312042556 + ], + "object_to_gripper_xy": 0.006220301478328818, + "object_to_gripper_z": -0.002395231312042556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23706410680738735, + -0.06970562753884425, + 0.9978849901557696 + ], + "finger_b": [ + 0.22620985552742195, + -0.04567573639533271, + 0.9978849901557696 + ], + "finger_midpoint": [ + 0.23163698116740467, + -0.057690681967088486, + 0.9978849901557696 + ], + "object_minus_finger_midpoint": [ + 0.005427125639982683, + 0.012014945571755774, + 0.0 + ], + "finger_gap": 0.02636760207560871, + "fingertip_max_gap": 0.09295475472933754, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013183801037804352, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978849901557696, + "object_top_z": 1.0437132506122273, + "finger_top_clearance": 0.045828260456457715, + "fingertip_min_top_clearance": 0.013748478136937314, + "object_projection_between_fingers": 0.83054340680287, + "object_to_finger_line_xy": 0.009891930102478541, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897737736466877, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.992195742579335, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1620261134590587, + 0.23147261698708005, + 0.7611064484101211 + ], + "gripper_position": [ + 0.16535811449274104, + 0.19391391192023655, + 1.0165486218002466 + ], + "target_minus_gripper": [ + -0.003332001033682336, + 0.0375587050668435, + -0.25544217339012554 + ], + "held_position": [ + 0.16979073658042607, + 0.19819052626079517, + 1.0139967866038353 + ], + "held_minus_target": [ + 0.007764623121367359, + -0.03328209072628488, + 0.2528903381937142 + ], + "held_minus_gripper": [ + 0.004432622087685023, + 0.004276614340558621, + -0.002551835196411334 + ], + "xy_dist": 0.03770621377421228, + "held_xy_dist": 0.03417582384273319, + "held_gripper_dist": 0.006667040697322047, + "max_held_gripper_dist": 0.006671342601580793, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0139967866038353, + "required_height": 0.7911064484101211, + "gripper_z": 1.0165486218002466, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18037497490592, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.037519350419284, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9189412081849437, + "max_source_tilt_deg": 89.86339124388051, + "source_upright_tilt_deg": 2.407055641532086, + "max_source_upright_tilt_deg": 89.78721793252359, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9189412081849437, + "source_upright_return_tilt_deg": 2.407055641532086, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.5840151626966372e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.162, + 0.2315, + 0.7611 + ], + "controller_target_position": [ + 0.162, + 0.2315, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + -0.0001, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.1609, + 0.206, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0649, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011690452289624138, + -9.8332846535076e-05, + -0.0016692445619001703 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4067651076597643, + "source_return_step_error_deg": 1.9187661203778676, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.413101699376089, + "source_return_best_wrist_position": -1.6094110012054443, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094110012054443 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.162, + 0.2315, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.162, + 0.2315, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + -0.0001, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1609, + 0.206, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0649, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011690452289624138, + -9.8332846535076e-05, + -0.0016692445619001703 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4067651076597643, + "pour_controller_source_return_step_error_deg": 1.9187661203778676, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.413101699376089, + "pour_controller_source_return_best_wrist_position": -1.6094110012054443, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094110012054443, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03770621377421228, + "valid_pour_held_xy_dist": 0.03417582384273319, + "valid_pour_held_gripper_dist": 0.006667040697322047, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0139967866038353, + "valid_pour_source_tilt_deg": 1.9189412081849437, + "valid_pour_source_upright_tilt_deg": 2.407055641532086, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16979073658042607, + 0.1745143939763206, + 1.0139967866038353 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15910837144853915, + 0.19819052626079517, + 1.0139967866038353 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1644495540144826, + 0.18635246011855788, + 1.0139967866038353 + ], + "valid_pour_held_grasp_object_position": [ + 0.16979073658042607, + 0.19819052626079517, + 1.0139967866038353 + ], + "valid_pour_held_grasp_finger_gap": 0.025974452155202284, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023954662563699446, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028029405475253438, + -0.9991176741099225, + 0.03127660003713373 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005682819486113252, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352231402767742, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16979073658042607, + 0.1745143939763206, + 1.0139967866038353 + ], + "held_grasp_finger_b": [ + 0.15910837144853915, + 0.19819052626079517, + 1.0139967866038353 + ], + "held_grasp_midpoint": [ + 0.1644495540144826, + 0.18635246011855788, + 1.0139967866038353 + ], + "held_grasp_object_position": [ + 0.16979073658042607, + 0.19819052626079517, + 1.0139967866038353 + ], + "held_grasp_finger_gap": 0.025974452155202284, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023954662563699446, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028029405475253438, + -0.9991176741099225, + 0.03127660003713373 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005682819486113252, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352231402767742, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2193856505300114, + -0.05607622104096547, + 0.7565868884720384 + ], + "target_position": [ + 0.21481526732464376, + -0.04923944273552961, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008223742471745154, + "xy_threshold": 0.08, + "gripper_dist": 0.21992863392729786, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868884720384, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527322162022497, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08873715400097194, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18964448555675115, + "release_required_pad_clearance": 0.054368577000485974, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.760062603044668, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 228, + "max_placed_release_frames": 228 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16897411351837904, + 0.22746181669339954, + 1.163158359651446 + ], + "current_z": 1.163158359651446, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.302051911241325, + "gripper_z": 1.1570470565334574, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16614664235670587, + 0.22351339291112515, + 1.1570470565334574 + ], + "object_minus_gripper": [ + 0.002827471161673173, + 0.003948423782274391, + 0.006111303117988687 + ], + "object_to_gripper_xy": 0.004856402324202912, + "object_to_gripper_z": 0.006111303117988687, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16897411351837904, + 0.20434432393176283, + 1.163158359651446 + ], + "finger_b": [ + 0.16005549434769342, + 0.22746181669339954, + 1.163158359651446 + ], + "finger_midpoint": [ + 0.16451480393303625, + 0.21590307031258119, + 1.163158359651446 + ], + "object_minus_finger_midpoint": [ + 0.004459309585342797, + 0.011558746380818358, + 0.0 + ], + "finger_gap": 0.024778221072063407, + "fingertip_max_gap": 0.09201956127001343, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012389110536031698, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163158359651446, + "object_top_z": 1.2134376808909753, + "finger_top_clearance": 0.05027932123952916, + "fingertip_min_top_clearance": 0.015083796371858749, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012389110536031698, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048509780635006716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3259584500023993, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3045403760801815, + -0.37873003821403095, + 0.8515395725584567 + ], + "target_position": [ + 0.29927751108584727, + -0.379233008729242, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005286844738382244, + "xy_threshold": 0.08, + "gripper_dist": 0.18187728665402622, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395725584567, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557751172645195, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568692003261762, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14970458918524873, + "release_required_pad_clearance": 0.05284346001630881, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7306099845274715, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008596062660217285, + "max_z_decrease": 0.008596062660217285, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035081169645064456, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008596062660217285, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02108930023621165, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008596062660217285, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008596417641361103, + "max_button_displacement": 0.12, + "button_start": [ + 0.1549774408340454, + -0.43549445271492004, + 0.7768088579177856 + ], + "button_final": [ + 0.1549774408340454, + -0.43549445271492004, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15635731281479912, + -0.4371974115842765, + 0.8032208606579091 + ], + "closest_button": [ + 0.15490801632404327, + -0.43545863032341003, + 0.7682127952575684 + ], + "closest_ee_minus_button": [ + 0.0014492964907558414, + -0.0017387812608664621, + 0.03500806540034074 + ], + "button_min_z_position": [ + 0.15490801632404327, + -0.43545863032341003, + 0.7682127952575684 + ], + "min_active_finger_to_button": 0.14429492785564602, + "closest_active_finger": [ + 0.01556386798620224, + -0.4208110272884369, + 0.8108259439468384 + ], + "closest_active_finger_button": [ + 0.15497593581676483, + -0.43549516797065735, + 0.776625394821167 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1394120678305626, + 0.014684140682220459, + 0.03420054912567139 + ], + "min_contact_pad_to_button": 0.02108930023621165, + "closest_contact_pad": [ + 0.15490801632404327, + -0.43840009093961757, + 0.7890959557917494 + ], + "closest_contact_pad_button": [ + 0.15490801632404327, + -0.43545863032341003, + 0.7682127952575684 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029414606162075363, + 0.020883160534181044 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68fe570a56714d162caae5f2c343b098ad549939cfe7499053ad5bf82e265887", + "visual_seed": 2674470931189077672, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3727d5fa345f98ab420f90e6b00b2c38fd37d02a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_72_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23772890338697497, + -0.05776083595008937, + 0.9979656493580238 + ], + "current_z": 0.9979656493580238, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14137914194945822, + "gripper_z": 1.0007630246349344, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23343579753335864, + -0.062182295399844476, + 1.0007630246349344 + ], + "object_minus_gripper": [ + 0.004293105853616336, + 0.004421459449755104, + -0.0027973752769105964 + ], + "object_to_gripper_xy": 0.006162796567807796, + "object_to_gripper_z": -0.0027973752769105964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23772890338697497, + -0.08155671521644847, + 0.9979656493580238 + ], + "finger_b": [ + 0.22665706276455658, + -0.05776083595008937, + 0.9979656493580238 + ], + "finger_midpoint": [ + 0.23219298307576577, + -0.06965877558326893, + 0.9979656493580238 + ], + "object_minus_finger_midpoint": [ + 0.005535920311209197, + 0.011897939633179554, + 0.0 + ], + "finger_gap": 0.02624556200250574, + "fingertip_max_gap": 0.09324027247721042, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122781001252873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9979656493580238, + "object_top_z": 1.0437890660718037, + "finger_top_clearance": 0.045823416713779874, + "fingertip_min_top_clearance": 0.013747025014133945, + "object_projection_between_fingers": 0.8220377461332611, + "object_to_finger_line_xy": 0.010038427932398038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049120136238605214, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.319895102371114, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15862130243439287, + 0.23829067309364746, + 0.7611063292008314 + ], + "gripper_position": [ + 0.16199123077580171, + 0.20089626623698037, + 1.0165261242670456 + ], + "target_minus_gripper": [ + -0.00336992834140884, + 0.03739440685666709, + -0.25541979506621415 + ], + "held_position": [ + 0.1663490463996448, + 0.20514728492958312, + 1.0135669453327847 + ], + "held_minus_target": [ + 0.007727743965251915, + -0.03314338816406434, + 0.25246061613195325 + ], + "held_minus_gripper": [ + 0.004357815623843075, + 0.004251018692602748, + -0.0029591789342608976 + ], + "xy_dist": 0.037545946268381376, + "held_xy_dist": 0.034032369970167044, + "held_gripper_dist": 0.006768933217372014, + "max_held_gripper_dist": 0.006779973306565373, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008314, + "held_z": 1.0135669453327847, + "required_height": 0.7911063292008315, + "gripper_z": 1.0165261242670456, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17786146529136, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.688901622927847, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.886275829517044, + "max_source_tilt_deg": 89.90430848174115, + "source_upright_tilt_deg": 2.3857994348347433, + "max_source_upright_tilt_deg": 89.80805397672532, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.886275829517044, + "source_upright_return_tilt_deg": 2.3857994348347433, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.712160915387242e-08, + "max_target_xy_drift": 1.341104507446289e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1586, + 0.2383, + 0.7611 + ], + "controller_target_position": [ + 0.1586, + 0.2383, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.0006, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1584, + 0.2135, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0648, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024178573315780075, + 0.000586561700758546, + -0.0017770357441005001 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3858025507437124, + "source_return_step_error_deg": 1.886275715256512, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.387272437938462, + "source_return_best_wrist_position": -1.6095911264419556, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095911264419556 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1586, + 0.2383, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1586, + 0.2383, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.0006, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1584, + 0.2135, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0648, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00024178573315780075, + 0.000586561700758546, + -0.0017770357441005001 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3858025507437124, + "pour_controller_source_return_step_error_deg": 1.886275715256512, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.387272437938462, + "pour_controller_source_return_best_wrist_position": -1.6095911264419556, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095911264419556, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037545946268381376, + "valid_pour_held_xy_dist": 0.034032369970167044, + "valid_pour_held_gripper_dist": 0.006768933217372014, + "valid_pour_required_height": 0.7911063292008315, + "valid_pour_held_z": 1.0135669453327847, + "valid_pour_source_tilt_deg": 1.886275829517044, + "valid_pour_source_upright_tilt_deg": 2.3857994348347433, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.712160915387242e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1663490463996448, + 0.1816015967929852, + 1.0135669453327847 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1556081726017713, + 0.20514728492958312, + 1.0135669453327847 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16097860950070803, + 0.19337444086128416, + 1.0135669453327847 + ], + "valid_pour_held_grasp_object_position": [ + 0.1663490463996448, + 0.20514728492958312, + 1.0135669453327847 + ], + "valid_pour_held_grasp_finger_gap": 0.02587983384351169, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023813914644661992, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.026872695003181818, + -0.9991331866176332, + 0.031792037722672695 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00569702245353482, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033581903869117705, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1663490463996448, + 0.1816015967929852, + 1.0135669453327847 + ], + "held_grasp_finger_b": [ + 0.1556081726017713, + 0.20514728492958312, + 1.0135669453327847 + ], + "held_grasp_midpoint": [ + 0.16097860950070803, + 0.19337444086128416, + 1.0135669453327847 + ], + "held_grasp_object_position": [ + 0.1663490463996448, + 0.20514728492958312, + 1.0135669453327847 + ], + "held_grasp_finger_gap": 0.02587983384351169, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023813914644661992, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.026872695003181818, + -0.9991331866176332, + 0.031792037722672695 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00569702245353482, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033581903869117705, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21887209714651967, + -0.060369576205628134, + 0.7565863408511184 + ], + "target_position": [ + 0.21631700112051933, + -0.057539613931382995, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0038127683086877293, + "xy_threshold": 0.08, + "gripper_dist": 0.2166855071101027, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863408511184, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573742417801836, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08623762806980385, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18652248511365918, + "release_required_pad_clearance": 0.05311881403490193, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2642202755765173, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 222, + "max_placed_release_frames": 222 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1657044164982577, + 0.23307289247337198, + 1.1618788499276516 + ], + "current_z": 1.1618788499276516, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30077246112217526, + "gripper_z": 1.1556731127403903, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16278762467143654, + 0.22907616530447245, + 1.1556731127403903 + ], + "object_minus_gripper": [ + 0.002916791826821169, + 0.003996727168899539, + 0.006205737187261251 + ], + "object_to_gripper_xy": 0.004947878598311654, + "object_to_gripper_z": 0.006205737187261251, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1657044164982577, + 0.21009095920704085, + 1.1618788499276516 + ], + "finger_b": [ + 0.15646501239731944, + 0.23307289247337198, + 1.1618788499276516 + ], + "finger_midpoint": [ + 0.16108471444778857, + 0.22158192584020642, + 1.1618788499276516 + ], + "object_minus_finger_midpoint": [ + 0.004619702050469132, + 0.011490966633165567, + 0.0 + ], + "finger_gap": 0.024769655726281956, + "fingertip_max_gap": 0.09151100831333461, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012384827863140978, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1618788499276516, + "object_top_z": 1.2121037121556093, + "finger_top_clearance": 0.050224862227957745, + "fingertip_min_top_clearance": 0.015067458668387324, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012384827863140978, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04825550415666731, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9264869717341084, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3026823686284499, + -0.38189233691800367, + 0.8515395807141543 + ], + "target_position": [ + 0.29753774307109015, + -0.3821320049428196, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005150205130629077, + "xy_threshold": 0.08, + "gripper_dist": 0.18129119787504325, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395807141543, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522654690723116, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08713461784770891, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15003422374150266, + "release_required_pad_clearance": 0.05356730892385446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1456631102107866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008579134941101074, + "max_z_decrease": 0.008579134941101074, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501949168235729, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008579134941101074, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020899122793093444, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008579134941101074, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008579742845249592, + "max_button_displacement": 0.12, + "button_start": [ + 0.15323767066001892, + -0.4383934736251831, + 0.7768088579177856 + ], + "button_final": [ + 0.15323767066001892, + -0.4383934736251831, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1539756430579498, + -0.4379782972436364, + 0.8036074989134108 + ], + "closest_button": [ + 0.15314550697803495, + -0.4383598864078521, + 0.7685999274253845 + ], + "closest_ee_minus_button": [ + 0.0008301360799148616, + 0.0003815891642157121, + 0.035007571488026246 + ], + "button_min_z_position": [ + 0.15314066410064697, + -0.4383615255355835, + 0.7682297229766846 + ], + "min_active_finger_to_button": 0.1449631633448691, + "closest_active_finger": [ + 0.026625804603099823, + -0.5001991987228394, + 0.8108342289924622 + ], + "closest_active_finger_button": [ + 0.15323735773563385, + -0.4383933544158935, + 0.7767186760902405 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12661155313253403, + -0.061805844306945856, + 0.03411555290222168 + ], + "min_contact_pad_to_button": 0.020899122793093444, + "closest_contact_pad": [ + 0.15314066410064697, + -0.4392220245536664, + 0.7891111231922036 + ], + "closest_contact_pad_button": [ + 0.15314066410064697, + -0.4383615255355835, + 0.7682297229766846 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008604990180828831, + 0.020881400215518986 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dc844fbb729c18cb1af50f69e2f670f668ac7580fe8a5f1773a2efb349fd1354", + "visual_seed": 6248011791125610470, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a6dd76621c7a7f97aa262914f2157e2eaacb35d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_73_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23927791990966263, + -0.052193345484911384, + 0.9973464360617058 + ], + "current_z": 0.9973464360617058, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14075998825778502, + "gripper_z": 0.9998897331099025, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23480828711678248, + -0.0565658991306965, + 0.9998897331099025 + ], + "object_minus_gripper": [ + 0.004469632792880152, + 0.004372553645785114, + -0.002543297048196669 + ], + "object_to_gripper_xy": 0.006252746811478801, + "object_to_gripper_z": -0.002543297048196669, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23927791990966263, + -0.07639114029312806, + 0.9973464360617058 + ], + "finger_b": [ + 0.22859725563165112, + -0.052193345484911384, + 0.9973464360617058 + ], + "finger_midpoint": [ + 0.23393758777065687, + -0.06429224288901972, + 0.9973464360617058 + ], + "object_minus_finger_midpoint": [ + 0.0053403321390057545, + 0.012098897404108334, + 0.0 + ], + "finger_gap": 0.026450139186782157, + "fingertip_max_gap": 0.09360150673969675, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013225069593391075, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9973464360617058, + "object_top_z": 1.0430113041710396, + "finger_top_clearance": 0.04566486810933379, + "fingertip_min_top_clearance": 0.013699460432800136, + "object_projection_between_fingers": 0.8369425654887218, + "object_to_finger_line_xy": 0.009771159266486052, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04930075336984838, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.630534456474718, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16190605480331982, + 0.23950264413818786, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16542914132403472, + 0.20347681827293013, + 1.01766570716019 + ], + "target_minus_gripper": [ + -0.0035230865207148965, + 0.03602582586525774, + -0.2565593183547136 + ], + "held_position": [ + 0.16991765387121244, + 0.2077376969317592, + 1.014968541941928 + ], + "held_minus_target": [ + 0.008011599067892616, + -0.03176494720642867, + 0.25386215313645166 + ], + "held_minus_gripper": [ + 0.00448851254717772, + 0.00426087865882907, + -0.00269716521826191 + ], + "xy_dist": 0.036197683184235926, + "held_xy_dist": 0.03275969460559512, + "held_gripper_dist": 0.006751039330802232, + "max_held_gripper_dist": 0.006755366268983737, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.014968541941928, + "required_height": 0.7911063888054765, + "gripper_z": 1.01766570716019, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1609294263389, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 3.224783563593437, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.000221250099775, + "max_source_tilt_deg": 89.85371734735489, + "source_upright_tilt_deg": 3.2437689183853498, + "max_source_upright_tilt_deg": 89.77270600905685, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.000221250099775, + "source_upright_return_tilt_deg": 3.2437689183853498, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.913136854835739e-06, + "max_target_xy_drift": 4.189744417834411e-06, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1619, + 0.2395, + 0.7611 + ], + "controller_target_position": [ + 0.1619, + 0.2395, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + 0.002, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1623, + 0.2161, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0688, + 0.0662, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004430017022465315, + 0.001968720733825575, + -0.0005608013628595047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.243770457818571, + "source_return_step_error_deg": 2.000229907782642, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.242583937306608, + "source_return_best_wrist_position": -1.6086629629135132, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6086629629135132 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1619, + 0.2395, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1619, + 0.2395, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + 0.002, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1623, + 0.2161, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0688, + 0.0662, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004430017022465315, + 0.001968720733825575, + -0.0005608013628595047 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.243770457818571, + "pour_controller_source_return_step_error_deg": 2.000229907782642, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.242583937306608, + "pour_controller_source_return_best_wrist_position": -1.6086629629135132, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6086629629135132, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036197683184235926, + "valid_pour_held_xy_dist": 0.03275969460559512, + "valid_pour_held_gripper_dist": 0.006751039330802232, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.014968541941928, + "valid_pour_source_tilt_deg": 2.000221250099775, + "valid_pour_source_upright_tilt_deg": 3.2437689183853498, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.913136854835739e-06, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16991765387121244, + 0.18396166214076132, + 1.014968541941928 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15932237887847972, + 0.2077376969317592, + 1.014968541941928 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16462001637484608, + 0.19584967953626026, + 1.014968541941928 + ], + "valid_pour_held_grasp_object_position": [ + 0.16991765387121244, + 0.2077376969317592, + 1.014968541941928 + ], + "valid_pour_held_grasp_finger_gap": 0.026029976614556704, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02420206920014782, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.043805132814968, + -0.9983978396964557, + 0.03581709129052357 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00582857719459552, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033563317794004635, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16991765387121244, + 0.18396166214076132, + 1.014968541941928 + ], + "held_grasp_finger_b": [ + 0.15932237887847972, + 0.2077376969317592, + 1.014968541941928 + ], + "held_grasp_midpoint": [ + 0.16462001637484608, + 0.19584967953626026, + 1.014968541941928 + ], + "held_grasp_object_position": [ + 0.16991765387121244, + 0.2077376969317592, + 1.014968541941928 + ], + "held_grasp_finger_gap": 0.026029976614556704, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02420206920014782, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.043805132814968, + -0.9983978396964557, + 0.03581709129052357 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00582857719459552, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033563317794004635, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2093101323080349, + -0.06114781133637963, + 0.7565920821208667 + ], + "target_position": [ + 0.2166867737479773, + -0.05574520423928278, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009143467743644988, + "xy_threshold": 0.08, + "gripper_dist": 0.20909912423001756, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565920821208667, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568065966905059, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09009414140315576, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1794628086865461, + "release_required_pad_clearance": 0.05504707070157788, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.1467047365494425, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16915472975796308, + 0.23459991188355223, + 1.1635275523772934 + ], + "current_z": 1.1635275523772934, + "required_z": 0.8611062695961869, + "initial_z": 0.7611062695961869, + "lift_margin": 0.3024212827811066, + "gripper_z": 1.1573497133311852, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1659472047850308, + 0.23052428590873852, + 1.1573497133311852 + ], + "object_minus_gripper": [ + 0.0032075249729322797, + 0.004075625974813701, + 0.006177839046108247 + ], + "object_to_gripper_xy": 0.005186419144126355, + "object_to_gripper_z": 0.006177839046108247, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16915472975796308, + 0.21122673915898038, + 1.1635275523772934 + ], + "finger_b": [ + 0.1600482923601521, + 0.23459991188355223, + 1.1635275523772934 + ], + "finger_midpoint": [ + 0.1646015110590576, + 0.2229133255212663, + 1.1635275523772934 + ], + "object_minus_finger_midpoint": [ + 0.004553218698905487, + 0.011686586362285922, + 0.0 + ], + "finger_gap": 0.02508450528300129, + "fingertip_max_gap": 0.09155133241424393, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012542252641500645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635275523772934, + "object_top_z": 1.2137040249409403, + "finger_top_clearance": 0.05017647256364688, + "fingertip_min_top_clearance": 0.01505294176909403, + "object_projection_between_fingers": 0.8682089457207053, + "object_to_finger_line_xy": 0.008485171694766237, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827566620712197, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0090571524016148, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3051973914618754, + -0.37985846917348887, + 0.8515396084173144 + ], + "target_position": [ + 0.30091801501578547, + -0.37990203386140564, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004279598187842252, + "xy_threshold": 0.08, + "gripper_dist": 0.18331221518039117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396084173144, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573212609199488, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08520838210196723, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15071618923775987, + "release_required_pad_clearance": 0.052604191050983615, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.27124185078058255, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008484959602355957, + "max_z_decrease": 0.008484959602355957, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504386284259634, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008484959602355957, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085719876148273, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008484959602355957, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008485367935890123, + "max_button_displacement": 0.12, + "button_start": [ + 0.1566179394721985, + -0.4361634850502013, + 0.7768088579177856 + ], + "button_final": [ + 0.1566179394721985, + -0.4361634850502013, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15589944101647843, + -0.43433334799473455, + 0.8033150690790872 + ], + "closest_button": [ + 0.15653663873672485, + -0.43614560365676874, + 0.7683238983154297 + ], + "closest_ee_minus_button": [ + -0.0006371977202464241, + 0.00181225566203419, + 0.03499117076365754 + ], + "button_min_z_position": [ + 0.15653663873672485, + -0.43614560365676874, + 0.7683238983154297 + ], + "min_active_finger_to_button": 0.1456382211343348, + "closest_active_finger": [ + 0.028527989983558655, + -0.4965096712112427, + 0.8109070062637329 + ], + "closest_active_finger_button": [ + 0.1566120833158493, + -0.43616327643394465, + 0.776800274848938 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12808409333229065, + -0.06034639477729803, + 0.03410673141479492 + ], + "min_contact_pad_to_button": 0.02085719876148273, + "closest_contact_pad": [ + 0.15653663873672485, + -0.43614560365676874, + 0.7891810970769124 + ], + "closest_contact_pad_button": [ + 0.15653663873672485, + -0.43614560365676874, + 0.7683238983154297 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02085719876148273 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8298b6fc090f61e660147e3034d46759449c18c6354c3b35d8009ec7442069ed", + "visual_seed": 5719298244033991325, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1500303a8ad22714f59e38fcccc866d9826357f8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_74_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23149731350019945, + -0.05182666282931027, + 0.9951249561753149 + ], + "current_z": 0.9951249561753149, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13853844876674937, + "gripper_z": 0.9982314714974261, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2269410015441536, + -0.05633802682413905, + 0.9982314714974261 + ], + "object_minus_gripper": [ + 0.004556311956045861, + 0.004511363994828779, + -0.0031065153221111474 + ], + "object_to_gripper_xy": 0.006411893927276397, + "object_to_gripper_z": -0.0031065153221111474, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23149731350019945, + -0.07595082728235161, + 0.9951249561753149 + ], + "finger_b": [ + 0.22048931089810542, + -0.05182666282931027, + 0.9951249561753149 + ], + "finger_midpoint": [ + 0.22599331219915242, + -0.06388874505583095, + 0.9951249561753149 + ], + "object_minus_finger_midpoint": [ + 0.005504001301047029, + 0.012062082226520679, + 0.0 + ], + "finger_gap": 0.026517002693462407, + "fingertip_max_gap": 0.0927985530572604, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258501346731216, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9951249561753149, + "object_top_z": 1.0410041622617652, + "finger_top_clearance": 0.04587920608645024, + "fingertip_min_top_clearance": 0.013763761825935071, + "object_projection_between_fingers": 0.8276671058327525, + "object_to_finger_line_xy": 0.010014663728864613, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0488992765286302, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8466654871213408, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16250934321541405, + 0.23768218417629675, + 0.7611064484101214 + ], + "gripper_position": [ + 0.1656584942766622, + 0.1999851737181091, + 1.0170027589233834 + ], + "target_minus_gripper": [ + -0.003149151061248162, + 0.03769701045818766, + -0.255896310513262 + ], + "held_position": [ + 0.17023275960773074, + 0.20436072810017128, + 1.013727018956028 + ], + "held_minus_target": [ + 0.00772341639231669, + -0.033321456076125466, + 0.2526205705459065 + ], + "held_minus_gripper": [ + 0.004574265331068528, + 0.004375554382062191, + -0.0032757399673555287 + ], + "xy_dist": 0.03782831941669191, + "held_xy_dist": 0.03420483293048315, + "held_gripper_dist": 0.0071274014762134396, + "max_held_gripper_dist": 0.007131457307600062, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101214, + "held_z": 1.013727018956028, + "required_height": 0.7911064484101215, + "gripper_z": 1.0170027589233834, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16872950237105, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8504722811386694, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8724500782237226, + "max_source_tilt_deg": 89.72878133671843, + "source_upright_tilt_deg": 2.406093415767181, + "max_source_upright_tilt_deg": 89.75197005508215, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8724500782237226, + "source_upright_return_tilt_deg": 2.406093415767181, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1625, + 0.2377, + 0.7611 + ], + "controller_target_position": [ + 0.1625, + 0.2377, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0003, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.1632, + 0.2126, + 1.0256 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0648, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007219764936618285, + 0.0003351202410516703, + -0.0009185706651420257 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4060938897801916, + "source_return_step_error_deg": 1.872446320552908, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.406427126624829, + "source_return_best_wrist_position": -1.6091225147247314, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091225147247314 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1625, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1625, + 0.2377, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0003, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1632, + 0.2126, + 1.0256 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0648, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007219764936618285, + 0.0003351202410516703, + -0.0009185706651420257 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4060938897801916, + "pour_controller_source_return_step_error_deg": 1.872446320552908, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.406427126624829, + "pour_controller_source_return_best_wrist_position": -1.6091225147247314, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091225147247314, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03782831941669191, + "valid_pour_held_xy_dist": 0.03420483293048315, + "valid_pour_held_gripper_dist": 0.0071274014762134396, + "valid_pour_required_height": 0.7911064484101215, + "valid_pour_held_z": 1.013727018956028, + "valid_pour_source_tilt_deg": 1.8724500782237226, + "valid_pour_source_upright_tilt_deg": 2.406093415767181, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17023275960773074, + 0.18066681448302552, + 1.013727018956028 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1592953300521736, + 0.20436072810017128, + 1.013727018956028 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16476404482995216, + 0.1925137712915984, + 1.013727018956028 + ], + "valid_pour_held_grasp_object_position": [ + 0.17023275960773074, + 0.20436072810017128, + 1.013727018956028 + ], + "valid_pour_held_grasp_finger_gap": 0.026096530569781493, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02398727709871368, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028731844991536467, + -0.9991183791177037, + 0.030609567010900566 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005818003881887803, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033520838947050054, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17023275960773074, + 0.18066681448302552, + 1.013727018956028 + ], + "held_grasp_finger_b": [ + 0.1592953300521736, + 0.20436072810017128, + 1.013727018956028 + ], + "held_grasp_midpoint": [ + 0.16476404482995216, + 0.1925137712915984, + 1.013727018956028 + ], + "held_grasp_object_position": [ + 0.17023275960773074, + 0.20436072810017128, + 1.013727018956028 + ], + "held_grasp_finger_gap": 0.026096530569781493, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02398727709871368, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028731844991536467, + -0.9991183791177037, + 0.030609567010900566 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005818003881887803, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033520838947050054, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2128959705367686, + -0.055351832570055104, + 0.7565864014479773 + ], + "target_position": [ + 0.21002616044449868, + -0.052915108386817185, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003764762238292182, + "xy_threshold": 0.08, + "gripper_dist": 0.216351726946107, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864014479773, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07565583422287729, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08636023386278903, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18663669292910193, + "release_required_pad_clearance": 0.05318011693139452, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3836413822578284, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16981897793153258, + 0.23302978649056827, + 1.1623573378237864 + ], + "current_z": 1.1623573378237864, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30125094901830984, + "gripper_z": 1.1561652223698555, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1666586030159332, + 0.2289093058615252, + 1.1561652223698555 + ], + "object_minus_gripper": [ + 0.0031603749155993954, + 0.004120480629043077, + 0.006192115453930835 + ], + "object_to_gripper_xy": 0.005192911536071948, + "object_to_gripper_z": 0.006192115453930835, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16981897793153258, + 0.20982999320791337, + 1.1623573378237864 + ], + "finger_b": [ + 0.1604566270527385, + 0.23302978649056827, + 1.1623573378237864 + ], + "finger_midpoint": [ + 0.16513780249213555, + 0.22142988984924084, + 1.1623573378237864 + ], + "object_minus_finger_midpoint": [ + 0.004681175439397028, + 0.011599896641327434, + 0.0 + ], + "finger_gap": 0.025017674199165188, + "fingertip_max_gap": 0.09140216356375264, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012508837099582577, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623573378237864, + "object_top_z": 1.2125736497861022, + "finger_top_clearance": 0.050216311962315796, + "fingertip_min_top_clearance": 0.015064893588694738, + "object_projection_between_fingers": 0.8599523060988769, + "object_to_finger_line_xy": 0.008682046272508924, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820108178187632, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8826059759516987, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3106398435482435, + -0.37909918352952265, + 0.8515395663772044 + ], + "target_position": [ + 0.3048838085828079, + -0.37978205214164606, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0057963995777327495, + "xy_threshold": 0.08, + "gripper_dist": 0.18357172492314636, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395663772044, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581491006685721, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538336295022118, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15070494089491723, + "release_required_pad_clearance": 0.052691681475110594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4387938164060293, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008456945419311523, + "max_z_decrease": 0.008456945419311523, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349993435484669, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008456945419311523, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020954531568665655, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008456945419311523, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008457124661115858, + "max_button_displacement": 0.12, + "button_start": [ + 0.16058373451232905, + -0.43604350090026855, + 0.7768088579177856 + ], + "button_final": [ + 0.16058373451232905, + -0.43604350090026855, + 0.7768089175224304 + ], + "closest_ee": [ + 0.16057544545063426, + -0.4363275556094832, + 0.8033498576478328 + ], + "closest_button": [ + 0.16053532063961024, + -0.4360172748565674, + 0.7683519124984741 + ], + "closest_ee_minus_button": [ + 4.0124811024028206e-05, + -0.0003102807529158369, + 0.03499794514935872 + ], + "button_min_z_position": [ + 0.16053532063961024, + -0.4360172748565674, + 0.7683519124984741 + ], + "min_active_finger_to_button": 0.1457863198649345, + "closest_active_finger": [ + 0.019982941448688507, + -0.41837626695632935, + 0.8106536865234375 + ], + "closest_active_finger_button": [ + 0.1605828702449798, + -0.43604597449302673, + 0.7764032483100891 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405999287962913, + 0.017669707536697388, + 0.03425043821334839 + ], + "min_contact_pad_to_button": 0.020954531568665655, + "closest_contact_pad": [ + 0.16053532063961024, + -0.43766518984529823, + 0.7892415455601658 + ], + "closest_contact_pad_button": [ + 0.16053532063961024, + -0.4360172748565674, + 0.7683519124984741 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016479149887308475, + 0.02088963306169167 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3d3006fe21d4d9cb79d883526faf7913a5a2f2f5b580c7da14a58e0734f02058", + "visual_seed": 5525075015651669481, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3c780bb9e8ba83bb901947e1b23f54f6e488e9e6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_75_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2356805238520091, + -0.056721257640108026, + 0.9965226145948254 + ], + "current_z": 0.9965226145948254, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1399361667909046, + "gripper_z": 0.9994060548122021, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2310151817759505, + -0.06122725440993042, + 0.9994060548122021 + ], + "object_minus_gripper": [ + 0.004665342076058593, + 0.0045059967698223916, + -0.0028834402173767426 + ], + "object_to_gripper_xy": 0.006486094632079656, + "object_to_gripper_z": -0.0028834402173767426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2356805238520091, + -0.08103265364535153, + 0.9965226145948254 + ], + "finger_b": [ + 0.22480909838872115, + -0.056721257640108026, + 0.9965226145948254 + ], + "finger_midpoint": [ + 0.23024481112036513, + -0.06887695564272978, + 0.9965226145948254 + ], + "object_minus_finger_midpoint": [ + 0.005435712731643977, + 0.01215569800262175, + 0.0 + ], + "finger_gap": 0.026631407535607193, + "fingertip_max_gap": 0.0923327694776222, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013315703767803593, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965226145948254, + "object_top_z": 1.042387860185242, + "finger_top_clearance": 0.045865245590416714, + "fingertip_min_top_clearance": 0.013759573677124997, + "object_projection_between_fingers": 0.8333578945780301, + "object_to_finger_line_xy": 0.009924354513598386, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0486663847388111, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3898353276204451, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1626451971020183, + 0.23345433731541107, + 0.7611064484101212 + ], + "gripper_position": [ + 0.16647735050363036, + 0.19412341708362396, + 1.0163953443481355 + ], + "target_minus_gripper": [ + -0.003832153401612054, + 0.03933092023178711, + -0.2552888959380143 + ], + "held_position": [ + 0.17113439082595747, + 0.19853007532585523, + 1.0133446715182979 + ], + "held_minus_target": [ + 0.008489193723939165, + -0.03492426198955584, + 0.2522382231081767 + ], + "held_minus_gripper": [ + 0.004657040322327111, + 0.0044066582422312706, + -0.0030506728298376196 + ], + "xy_dist": 0.03951716950861597, + "held_xy_dist": 0.035941208738684664, + "held_gripper_dist": 0.007100230006296617, + "max_held_gripper_dist": 0.0071239720410865, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0133446715182979, + "required_height": 0.7911064484101212, + "gripper_z": 1.0163953443481355, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17631101234976, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.882972567351889, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8843771096429371, + "max_source_tilt_deg": 89.66371217403078, + "source_upright_tilt_deg": 2.3109566088613733, + "max_source_upright_tilt_deg": 89.64988154802711, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8843771096429371, + "source_upright_return_tilt_deg": 2.3109566088613733, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 5.960464477539063e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1626, + 0.2335, + 0.7611 + ], + "controller_target_position": [ + 0.1626, + 0.2335, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0019, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.1632, + 0.2062, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0647, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005613152046750162, + -0.0018603735090619426, + -0.0010686087144592498 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.310963734037224, + "source_return_step_error_deg": 1.8843608418827016, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.310989562352713, + "source_return_best_wrist_position": -1.609071969985962, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609071969985962 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1626, + 0.2335, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1626, + 0.2335, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0019, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1632, + 0.2062, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0647, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005613152046750162, + -0.0018603735090619426, + -0.0010686087144592498 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.310963734037224, + "pour_controller_source_return_step_error_deg": 1.8843608418827016, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.310989562352713, + "pour_controller_source_return_best_wrist_position": -1.609071969985962, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609071969985962, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03951716950861597, + "valid_pour_held_xy_dist": 0.035941208738684664, + "valid_pour_held_gripper_dist": 0.007100230006296617, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0133446715182979, + "valid_pour_source_tilt_deg": 1.8843771096429371, + "valid_pour_source_upright_tilt_deg": 2.3109566088613733, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17113439082595747, + 0.1747348879858965, + 1.0133446715182979 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1601969602165244, + 0.19853007532585523, + 1.0133446715182979 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16566567552124095, + 0.18663248165587587, + 1.0133446715182979 + ], + "valid_pour_held_grasp_object_position": [ + 0.17113439082595747, + 0.19853007532585523, + 1.0133446715182979 + ], + "valid_pour_held_grasp_finger_gap": 0.026188515209532116, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0240632981472751, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02628251464998217, + -0.9991867106304847, + 0.030580168788045696 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057908272225095135, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03345603907239881, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17113439082595747, + 0.1747348879858965, + 1.0133446715182979 + ], + "held_grasp_finger_b": [ + 0.1601969602165244, + 0.19853007532585523, + 1.0133446715182979 + ], + "held_grasp_midpoint": [ + 0.16566567552124095, + 0.18663248165587587, + 1.0133446715182979 + ], + "held_grasp_object_position": [ + 0.17113439082595747, + 0.19853007532585523, + 1.0133446715182979 + ], + "held_grasp_finger_gap": 0.026188515209532116, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0240632981472751, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02628251464998217, + -0.9991867106304847, + 0.030580168788045696 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057908272225095135, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03345603907239881, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.22018820571442638, + -0.06345045579734454, + 0.756587559470328 + ], + "target_position": [ + 0.21360288136883643, + -0.05690081343083268, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009287858303496389, + "xy_threshold": 0.08, + "gripper_dist": 0.22027116597178473, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587559470328, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559948713618331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734525863668584, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1893518382631511, + "release_required_pad_clearance": 0.05367262931834292, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.353724171774773, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16976970729783422, + 0.23062450791159123, + 1.1639060668807928 + ], + "current_z": 1.1639060668807928, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3027996184706716, + "gripper_z": 1.157624230126159, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16679975389854673, + 0.2265792361438248, + 1.157624230126159 + ], + "object_minus_gripper": [ + 0.0029699533992874894, + 0.004045271767766423, + 0.006281836754633785 + ], + "object_to_gripper_xy": 0.005018450644275322, + "object_to_gripper_z": 0.006281836754633785, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16976970729783422, + 0.20754213489067766, + 1.1639060668807928 + ], + "finger_b": [ + 0.16054019919033022, + 0.23062450791159123, + 1.1639060668807928 + ], + "finger_midpoint": [ + 0.16515495324408222, + 0.21908332140113446, + 1.1639060668807928 + ], + "object_minus_finger_midpoint": [ + 0.0046147540537520015, + 0.011541186510456769, + 0.0 + ], + "finger_gap": 0.024859198784013145, + "fingertip_max_gap": 0.09156771085047452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012429599392006559, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1639060668807928, + "object_top_z": 1.2141415170674785, + "finger_top_clearance": 0.05023545018668574, + "fingertip_min_top_clearance": 0.01507063505600572, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012429599392006559, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828385542523726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9360993590480312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3039351296510767, + -0.37839304694974185, + 0.8515395776603838 + ], + "target_position": [ + 0.297985455507132, + -0.37854453596768706, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00595160241797805, + "xy_threshold": 0.08, + "gripper_dist": 0.18411865121487883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395776603838, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531289228756453, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637732456644691, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1524369904376865, + "release_required_pad_clearance": 0.053188662283223456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.400509039620441, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008583247661590576, + "max_z_decrease": 0.008583247661590576, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505260683273543, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008583247661590576, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02113269992047637, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008583247661590576, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008584334307091407, + "max_button_displacement": 0.12, + "button_start": [ + 0.15368537604808802, + -0.4348059892654419, + 0.7768088579177856 + ], + "button_final": [ + 0.15368537604808802, + -0.4348059892654419, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15406156122908612, + -0.43675828345878953, + 0.8035957300109147 + ], + "closest_button": [ + 0.15356421470642084, + -0.43477642536163325, + 0.768602728843689 + ], + "closest_ee_minus_button": [ + 0.0004973465226652818, + -0.001981858097156286, + 0.0349930011672257 + ], + "button_min_z_position": [ + 0.15355299413204188, + -0.4347723722457886, + 0.7682256102561951 + ], + "min_active_finger_to_button": 0.14520183256948674, + "closest_active_finger": [ + 0.013453803956508636, + -0.4190245270729065, + 0.8108530044555664 + ], + "closest_active_finger_button": [ + 0.15368407964706415, + -0.43480908870697016, + 0.7766493558883667 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14023027569055552, + 0.015784561634063665, + 0.03420364856719971 + ], + "min_contact_pad_to_button": 0.02113269992047637, + "closest_contact_pad": [ + 0.15356421470642084, + -0.43808083221120203, + 0.789475483843962 + ], + "closest_contact_pad_button": [ + 0.15356421470642084, + -0.43477642536163325, + 0.768602728843689 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.003304406849568786, + 0.02087275500027308 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b2c3c44d792da5be0055ece3691feb00ec5df97c41e682e772ef7227e52c9d06", + "visual_seed": 4149604766909676084, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0bb5a034a9975d37aeb79e43f3ed75c496ea65d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_76_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23146081258070034, + -0.050808289255060535, + 0.9961036213251843 + ], + "current_z": 0.9961036213251843, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13951717352126347, + "gripper_z": 0.9986149708040174, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2270981050913677, + -0.055301689624920436, + 0.9986149708040174 + ], + "object_minus_gripper": [ + 0.004362707489332623, + 0.004493400369859901, + -0.002511349478833136 + ], + "object_to_gripper_xy": 0.00626289577762045, + "object_to_gripper_z": -0.002511349478833136, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23146081258070034, + -0.07460697232948992, + 0.9961036213251843 + ], + "finger_b": [ + 0.22023571840096817, + -0.050808289255060535, + 0.9961036213251843 + ], + "finger_midpoint": [ + 0.22584826549083425, + -0.06270763079227523, + 0.9961036213251843 + ], + "object_minus_finger_midpoint": [ + 0.005612547089866082, + 0.011899341537214697, + 0.0 + ], + "finger_gap": 0.026313115654003964, + "fingertip_max_gap": 0.09342544077923742, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013156557827001987, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9961036213251843, + "object_top_z": 1.0419255105334058, + "finger_top_clearance": 0.0458218892082215, + "fingertip_min_top_clearance": 0.01374656676246645, + "object_projection_between_fingers": 0.8180150650537682, + "object_to_finger_line_xy": 0.010152444977507549, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049212720389618714, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5795349482414016, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15597680825848192, + 0.23005356450542874, + 0.7611063292008315 + ], + "gripper_position": [ + 0.1590660373692327, + 0.192192014034071, + 1.016857937554082 + ], + "target_minus_gripper": [ + -0.0030892291107507686, + 0.03786155047135775, + -0.2557516083532505 + ], + "held_position": [ + 0.1634870145030812, + 0.1965335239748544, + 1.014183062569203 + ], + "held_minus_target": [ + 0.007510206244599277, + -0.033520040530574335, + 0.25307673336837144 + ], + "held_minus_gripper": [ + 0.004420977133848508, + 0.004341509940783417, + -0.002674874984879061 + ], + "xy_dist": 0.037987370803911666, + "held_xy_dist": 0.03435107443745777, + "held_gripper_dist": 0.006748977964748762, + "max_held_gripper_dist": 0.006753174982557211, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.014183062569203, + "required_height": 0.7911063292008316, + "gripper_z": 1.016857937554082, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1899440699331, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.772602102674481, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8824763553963044, + "max_source_tilt_deg": 89.96406729026187, + "source_upright_tilt_deg": 2.5946944335271698, + "max_source_upright_tilt_deg": 89.9441316846143, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8824763553963044, + "source_upright_return_tilt_deg": 2.5946944335271698, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.0848209096909341e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.156, + 0.2301, + 0.7611 + ], + "controller_target_position": [ + 0.156, + 0.2301, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0008, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.1551, + 0.2038, + 1.026 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000885044526731008, + -0.0008001374963131221, + -0.0005451981746173104 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5946987400507817, + "source_return_step_error_deg": 1.8824832480109133, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5954902099562465, + "source_return_best_wrist_position": -1.6098072528839111, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098072528839111 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.156, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.156, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0008, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1551, + 0.2038, + 1.026 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000885044526731008, + -0.0008001374963131221, + -0.0005451981746173104 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5946987400507817, + "pour_controller_source_return_step_error_deg": 1.8824832480109133, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5954902099562465, + "pour_controller_source_return_best_wrist_position": -1.6098072528839111, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098072528839111, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037987370803911666, + "valid_pour_held_xy_dist": 0.03435107443745777, + "valid_pour_held_gripper_dist": 0.006748977964748762, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.014183062569203, + "valid_pour_source_tilt_deg": 1.8824763553963044, + "valid_pour_source_upright_tilt_deg": 2.5946944335271698, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1634870145030812, + 0.17299278754071956, + 1.014183062569203 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15255995497610242, + 0.1965335239748544, + 1.014183062569203 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15802348473959182, + 0.18476315575778698, + 1.014183062569203 + ], + "valid_pour_held_grasp_object_position": [ + 0.1634870145030812, + 0.1965335239748544, + 1.014183062569203 + ], + "valid_pour_held_grasp_finger_gap": 0.025953167470802896, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02387609311945194, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032899175705523594, + -0.9989747743842584, + 0.031097337214256775 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005859076924920338, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033621669657407594, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1634870145030812, + 0.17299278754071956, + 1.014183062569203 + ], + "held_grasp_finger_b": [ + 0.15255995497610242, + 0.1965335239748544, + 1.014183062569203 + ], + "held_grasp_midpoint": [ + 0.15802348473959182, + 0.18476315575778698, + 1.014183062569203 + ], + "held_grasp_object_position": [ + 0.1634870145030812, + 0.1965335239748544, + 1.014183062569203 + ], + "held_grasp_finger_gap": 0.025953167470802896, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02387609311945194, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032899175705523594, + -0.9989747743842584, + 0.031097337214256775 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005859076924920338, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033621669657407594, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2151937400283082, + -0.054529601557889155, + 0.7565863950333338 + ], + "target_position": [ + 0.21050424941697463, + -0.05389700578256267, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004731965723538872, + "xy_threshold": 0.08, + "gripper_dist": 0.22011120852152996, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863950333338, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545459308664637, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566344284750867, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19083542300748818, + "release_required_pad_clearance": 0.052831721423754335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.70775565238107, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 231, + "max_placed_release_frames": 231 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16282406589456638, + 0.22463983543511465, + 1.1608989503695144 + ], + "current_z": 1.1608989503695144, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.29979262116868277, + "gripper_z": 1.1546819115569085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15999859493538657, + 0.22084079069879567, + 1.1546819115569085 + ], + "object_minus_gripper": [ + 0.0028254709591798155, + 0.0037990447363189794, + 0.006217038812605935 + ], + "object_to_gripper_xy": 0.0047345566898835895, + "object_to_gripper_z": 0.006217038812605935, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16282406589456638, + 0.20145611899345384, + 1.1608989503695144 + ], + "finger_b": [ + 0.15423284329999695, + 0.22463983543511465, + 1.1608989503695144 + ], + "finger_midpoint": [ + 0.15852845459728165, + 0.21304797721428426, + 1.1608989503695144 + ], + "object_minus_finger_midpoint": [ + 0.004295611297284729, + 0.011591858220830392, + 0.0 + ], + "finger_gap": 0.024724356689644608, + "fingertip_max_gap": 0.09130751084958227, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012362178344822297, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1608989503695144, + "object_top_z": 1.2109044844672259, + "finger_top_clearance": 0.05000553409771147, + "fingertip_min_top_clearance": 0.01500166022931344, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012362178344822297, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04815375542479114, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.858075785284683, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3024250439441961, + -0.3782260616694093, + 0.8515395782472919 + ], + "target_position": [ + 0.2974127690725257, + -0.3788427431260152, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005050068851817812, + "xy_threshold": 0.08, + "gripper_dist": 0.18190265834193076, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395782472919, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577369419411868, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559961899941108, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1495316432020037, + "release_required_pad_clearance": 0.052799809499705544, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6464930854379765, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008331000804901123, + "max_z_decrease": 0.008331000804901123, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035034148256834124, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008331000804901123, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020842674557821215, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008331000804901123, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008331116329970958, + "max_button_displacement": 0.12, + "button_start": [ + 0.15311269462108612, + -0.4351041913032532, + 0.7768088579177856 + ], + "button_final": [ + 0.15311269462108612, + -0.4351041913032532, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15137898520529214, + -0.4340919792340938, + 0.8034568017054318 + ], + "closest_button": [ + 0.1530697792768478, + -0.4350950717926025, + 0.7684778571128845 + ], + "closest_ee_minus_button": [ + -0.0016907940715556735, + 0.001003092558508667, + 0.034978944592547245 + ], + "button_min_z_position": [ + 0.1530697792768478, + -0.4350950717926025, + 0.7684778571128845 + ], + "min_active_finger_to_button": 0.14683246108476866, + "closest_active_finger": [ + 0.023474931716918945, + -0.49505823850631714, + 0.8103623390197754 + ], + "closest_active_finger_button": [ + 0.15310421586036682, + -0.4351068437099456, + 0.7762764096260071 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12962928414344788, + -0.059951394796371515, + 0.03408592939376831 + ], + "min_contact_pad_to_button": 0.020842674557821215, + "closest_contact_pad": [ + 0.1530697792768478, + -0.4354639427832389, + 0.7893172672992481 + ], + "closest_contact_pad_button": [ + 0.1530697792768478, + -0.4350950717926025, + 0.7684778571128845 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00036887099063642736, + 0.020839410186363594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3f4d0783deb920b11baf520226eabc2cf019f994022c96a144f1c9872dbf4021", + "visual_seed": 2192115475535704358, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e02c636afbd0e46b658f04e5ec31e1bdffb8dab6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_77_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2349994697371292, + -0.052117247719756586, + 0.9983903846244055 + ], + "current_z": 0.9983903846244055, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14180393682048476, + "gripper_z": 1.001206414304378, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2303832680006735, + -0.05662251431416099, + 1.001206414304378 + ], + "object_minus_gripper": [ + 0.004616201736455716, + 0.0045052665944044015, + -0.0028160296799724094 + ], + "object_to_gripper_xy": 0.006450329104651406, + "object_to_gripper_z": -0.0028160296799724094, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2349994697371292, + -0.07629189986920519, + 0.9983903846244055 + ], + "finger_b": [ + 0.2239974850540334, + -0.052117247719756586, + 0.9983903846244055 + ], + "finger_midpoint": [ + 0.22949847739558132, + -0.06420457379448088, + 0.9983903846244055 + ], + "object_minus_finger_midpoint": [ + 0.005500992341547883, + 0.012087326074724299, + 0.0 + ], + "finger_gap": 0.026560449422287916, + "fingertip_max_gap": 0.092848527700304, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328022471114395, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983903846244055, + "object_top_z": 1.0442339232495994, + "finger_top_clearance": 0.04584353862519386, + "fingertip_min_top_clearance": 0.013753061587558157, + "object_projection_between_fingers": 0.8284181945594103, + "object_to_finger_line_xy": 0.010013729377794975, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048924263850152, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7875730900733007, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16239083428043932, + 0.22975324650272794, + 0.7611065676194106 + ], + "gripper_position": [ + 0.1663189723689669, + 0.1916354718734501, + 1.0173838224689078 + ], + "target_minus_gripper": [ + -0.003928138088527572, + 0.038117774629277845, + -0.25627725484949715 + ], + "held_position": [ + 0.17097113437110864, + 0.19599687138136407, + 1.0144019880579103 + ], + "held_minus_target": [ + 0.008580300090669318, + -0.03375637512136387, + 0.2532954204384996 + ], + "held_minus_gripper": [ + 0.0046521620021417465, + 0.004361399507913977, + -0.0029818344109975303 + ], + "xy_dist": 0.038319642633132145, + "held_xy_dist": 0.03482979200311385, + "held_gripper_dist": 0.007039584747441625, + "max_held_gripper_dist": 0.007055300308392606, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194106, + "held_z": 1.0144019880579103, + "required_height": 0.7911065676194107, + "gripper_z": 1.0173838224689078, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17148889879573, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9282845517686193, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.924466840561262, + "max_source_tilt_deg": 89.7500606387486, + "source_upright_tilt_deg": 2.2916556884661934, + "max_source_upright_tilt_deg": 89.9619302665673, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.924466840561262, + "source_upright_return_tilt_deg": 2.2916556884661934, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 5.3726900748371916e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1624, + 0.2298, + 0.7611 + ], + "controller_target_position": [ + 0.1624, + 0.2298, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0008, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.1634, + 0.2036, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0647, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000971527619617257, + -0.000842979516844483, + 0.00025325190297144666 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2916412844135516, + "source_return_step_error_deg": 1.9244299337223714, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.298747839192548, + "source_return_best_wrist_position": -1.60884428024292, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60884428024292 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1624, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1624, + 0.2298, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0008, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1634, + 0.2036, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0647, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000971527619617257, + -0.000842979516844483, + 0.00025325190297144666 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2916412844135516, + "pour_controller_source_return_step_error_deg": 1.9244299337223714, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.298747839192548, + "pour_controller_source_return_best_wrist_position": -1.60884428024292, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60884428024292, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038319642633132145, + "valid_pour_held_xy_dist": 0.03482979200311385, + "valid_pour_held_gripper_dist": 0.007039584747441625, + "valid_pour_required_height": 0.7911065676194107, + "valid_pour_held_z": 1.0144019880579103, + "valid_pour_source_tilt_deg": 1.924466840561262, + "valid_pour_source_upright_tilt_deg": 2.2916556884661934, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17097113437110864, + 0.17217150437986412, + 1.0144019880579103 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16014110118535566, + 0.19599687138136407, + 1.0144019880579103 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16555611777823215, + 0.1840841878806141, + 1.0144019880579103 + ], + "valid_pour_held_grasp_object_position": [ + 0.17097113437110864, + 0.19599687138136407, + 1.0144019880579103 + ], + "valid_pour_held_grasp_finger_gap": 0.02617131505218402, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02406549315666205, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023931670541661683, + -0.9992002376713272, + 0.03203373507177564 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005711180388283239, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03342665917363645, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17097113437110864, + 0.17217150437986412, + 1.0144019880579103 + ], + "held_grasp_finger_b": [ + 0.16014110118535566, + 0.19599687138136407, + 1.0144019880579103 + ], + "held_grasp_midpoint": [ + 0.16555611777823215, + 0.1840841878806141, + 1.0144019880579103 + ], + "held_grasp_object_position": [ + 0.17097113437110864, + 0.19599687138136407, + 1.0144019880579103 + ], + "held_grasp_finger_gap": 0.02617131505218402, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02406549315666205, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023931670541661683, + -0.9992002376713272, + 0.03203373507177564 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005711180388283239, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03342665917363645, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20677279855298328, + -0.05062652424003644, + 0.7565864921081169 + ], + "target_position": [ + 0.21301331102895457, + -0.05317129854349615, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0067394266980435515, + "xy_threshold": 0.08, + "gripper_dist": 0.20943143035294598, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864921081169, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757151933544014, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08684767558634814, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18140434330476057, + "release_required_pad_clearance": 0.05342383779317407, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8616638202692957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16940520756674743, + 0.2271711032470342, + 1.1622312905093333 + ], + "current_z": 1.1622312905093333, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.3011247824945674, + "gripper_z": 1.1558481546177533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1665435422492788, + 0.22321905372665735, + 1.1558481546177533 + ], + "object_minus_gripper": [ + 0.00286166531746862, + 0.003952049520376866, + 0.006383135891580016 + ], + "object_to_gripper_xy": 0.004879326162567306, + "object_to_gripper_z": 0.006383135891580016, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16940520756674743, + 0.20416158151010644, + 1.1622312905093333 + ], + "finger_b": [ + 0.16031527941542023, + 0.2271711032470342, + 1.1622312905093333 + ], + "finger_midpoint": [ + 0.16486024349108383, + 0.21566634237857032, + 1.1622312905093333 + ], + "object_minus_finger_midpoint": [ + 0.004544964075663599, + 0.011504760868463887, + 0.0 + ], + "finger_gap": 0.024739945116318315, + "fingertip_max_gap": 0.09161096110465855, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012369972558159158, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1622312905093333, + "object_top_z": 1.2125221644570017, + "finger_top_clearance": 0.0502908739476684, + "fingertip_min_top_clearance": 0.01508726218430052, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012369972558159158, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830548055232928, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0224072380275926, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3044017754127331, + -0.37876822118444753, + 0.8515395906515929 + ], + "target_position": [ + 0.29888407331599426, + -0.3793328336190466, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0055465145478633925, + "xy_threshold": 0.08, + "gripper_dist": 0.18487814320933793, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395906515929, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525988288003456, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870986582170694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15347911180811363, + "release_required_pad_clearance": 0.0535493291085347, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.1099813127721236, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008469820022583008, + "max_z_decrease": 0.008469820022583008, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350095936849936, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008469820022583008, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020876640478851093, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008469820022583008, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847029684496934, + "max_button_displacement": 0.12, + "button_start": [ + 0.1545840054750442, + -0.4355942904949189, + 0.7768088579177856 + ], + "button_final": [ + 0.1545840054750442, + -0.4355942904949189, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15479707914264687, + -0.4348973008759123, + 0.8037069952061324 + ], + "closest_button": [ + 0.15449942648410792, + -0.43556684255599976, + 0.7687050700187683 + ], + "closest_ee_minus_button": [ + 0.00029765265853895495, + 0.000669541680087482, + 0.035001925187364114 + ], + "button_min_z_position": [ + 0.154496818780899, + -0.43557247519493103, + 0.7683390378952026 + ], + "min_active_finger_to_button": 0.14529809268534083, + "closest_active_finger": [ + 0.028507612645626068, + -0.49925488233566284, + 0.8104057312011719 + ], + "closest_active_finger_button": [ + 0.15457713603973386, + -0.4355939030647278, + 0.7762693762779236 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1260695233941078, + -0.06366097927093506, + 0.03413635492324829 + ], + "min_contact_pad_to_button": 0.020876640478851093, + "closest_contact_pad": [ + 0.154496818780899, + -0.4359305641851886, + 0.7892126070667234 + ], + "closest_contact_pad_button": [ + 0.154496818780899, + -0.43557247519493103, + 0.7683390378952026 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003580889902575768, + 0.020873569171520723 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fd5085fc15dcffaa43306304d46f8d64bb27026c41183f2f47489a35caa81fd3", + "visual_seed": 4072115197615582164, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_78_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_78_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6c380b431206d5b2c7e7b71c08ebfeb5a2ffbf93 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_78_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 78, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23286653731898393, + -0.04925320401111311, + 0.9958284295828018 + ], + "current_z": 0.9958284295828018, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.13924192217423648, + "gripper_z": 0.9989064576129907, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2283863095576603, + -0.053740415598696065, + 0.9989064576129907 + ], + "object_minus_gripper": [ + 0.004480227761323646, + 0.004487211587582952, + -0.003078028030188862 + ], + "object_to_gripper_xy": 0.00634093909646464, + "object_to_gripper_z": -0.003078028030188862, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23286653731898393, + -0.07331499023736646, + 0.9958284295828018 + ], + "finger_b": [ + 0.22187926293000498, + -0.04925320401111311, + 0.9958284295828018 + ], + "finger_midpoint": [ + 0.22737290012449446, + -0.06128409712423978, + 0.9958284295828018 + ], + "object_minus_finger_midpoint": [ + 0.005493637194489476, + 0.012030893113126669, + 0.0 + ], + "finger_gap": 0.02645164937951182, + "fingertip_max_gap": 0.09297152629296973, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013225824689755906, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9958284295828018, + "object_top_z": 1.0417227279997678, + "finger_top_clearance": 0.04589429841696602, + "fingertip_min_top_clearance": 0.013768289525089804, + "object_projection_between_fingers": 0.8274661052932697, + "object_to_finger_line_xy": 0.009994592161862343, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04898576314648487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0176239728524665, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15892504770416827, + 0.23388925750717596, + 0.7611063888054763 + ], + "gripper_position": [ + 0.16287053596498635, + 0.19549679545759896, + 1.0173924579911258 + ], + "target_minus_gripper": [ + -0.003945488260818086, + 0.038392462049577, + -0.25628606918564945 + ], + "held_position": [ + 0.16738006277537615, + 0.19983942984637962, + 1.0141486127334003 + ], + "held_minus_target": [ + 0.008455015071207883, + -0.03404982766079634, + 0.25304222392792397 + ], + "held_minus_gripper": [ + 0.004509526810389797, + 0.0043426343887806584, + -0.003243845257725475 + ], + "xy_dist": 0.03859466310054362, + "held_xy_dist": 0.03508387155922624, + "held_gripper_dist": 0.007051016773793181, + "max_held_gripper_dist": 0.007055930575595719, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0141486127334003, + "required_height": 0.7911063888054763, + "gripper_z": 1.0173924579911258, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17216508752357, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9117554728863735, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.867874896864867, + "max_source_tilt_deg": 89.65862554085743, + "source_upright_tilt_deg": 2.3982630848487636, + "max_source_upright_tilt_deg": 89.73810512946773, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.867874896864867, + "source_upright_return_tilt_deg": 2.3982630848487636, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 9.06402249678704e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1589, + 0.2339, + 0.7611 + ], + "controller_target_position": [ + 0.1589, + 0.2339, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0011, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.1602, + 0.2074, + 1.0269 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0648, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012253861236563857, + -0.0011317768076467322, + 0.0004058206951130989 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3983258232459037, + "source_return_step_error_deg": 1.8678896366599582, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3933620449775503, + "source_return_best_wrist_position": -1.609073519706726, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609073519706726 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1589, + 0.2339, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1589, + 0.2339, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0011, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1602, + 0.2074, + 1.0269 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0648, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012253861236563857, + -0.0011317768076467322, + 0.0004058206951130989 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3983258232459037, + "pour_controller_source_return_step_error_deg": 1.8678896366599582, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3933620449775503, + "pour_controller_source_return_best_wrist_position": -1.609073519706726, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609073519706726, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03859466310054362, + "valid_pour_held_xy_dist": 0.03508387155922624, + "valid_pour_held_gripper_dist": 0.007051016773793181, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0141486127334003, + "valid_pour_source_tilt_deg": 1.867874896864867, + "valid_pour_source_upright_tilt_deg": 2.3982630848487636, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16738006277537615, + 0.17616515875454725, + 1.0141486127334003 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15652297763972559, + 0.19983942984637962, + 1.0141486127334003 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16195152020755088, + 0.18800229430046345, + 1.0141486127334003 + ], + "valid_pour_held_grasp_object_position": [ + 0.16738006277537615, + 0.19983942984637962, + 1.0141486127334003 + ], + "valid_pour_held_grasp_finger_gap": 0.02604510336651276, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023971427878443138, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029279766126603685, + -0.9991241070570971, + 0.029895049639196536 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057834941736702615, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03353240394017768, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16738006277537615, + 0.17616515875454725, + 1.0141486127334003 + ], + "held_grasp_finger_b": [ + 0.15652297763972559, + 0.19983942984637962, + 1.0141486127334003 + ], + "held_grasp_midpoint": [ + 0.16195152020755088, + 0.18800229430046345, + 1.0141486127334003 + ], + "held_grasp_object_position": [ + 0.16738006277537615, + 0.19983942984637962, + 1.0141486127334003 + ], + "held_grasp_finger_gap": 0.02604510336651276, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023971427878443138, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029279766126603685, + -0.9991241070570971, + 0.029895049639196536 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057834941736702615, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03353240394017768, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21383103767989847, + -0.04800495336144451, + 0.7565863226177074 + ], + "target_position": [ + 0.21120517224366486, + -0.04939298353551385, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0029701510152403514, + "xy_threshold": 0.08, + "gripper_dist": 0.21678473809699741, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863226177074, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559467768093339, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516252645154977, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18760714182871757, + "release_required_pad_clearance": 0.05258126322577489, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.22728177346216283, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16592519747737594, + 0.2284008558705506, + 1.1597341600569973 + ], + "current_z": 1.1597341600569973, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.2986277116468763, + "gripper_z": 1.1535313469586086, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16290737001172362, + 0.22449924506130806, + 1.1535313469586086 + ], + "object_minus_gripper": [ + 0.003017827465652323, + 0.003901610809242534, + 0.00620281309838866 + ], + "object_to_gripper_xy": 0.004932529728166238, + "object_to_gripper_z": 0.00620281309838866, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16592519747737594, + 0.20506434673785784, + 1.1597341600569973 + ], + "finger_b": [ + 0.15720986263123385, + 0.2284008558705506, + 1.1597341600569973 + ], + "finger_midpoint": [ + 0.1615675300543049, + 0.21673260130420421, + 1.1597341600569973 + ], + "object_minus_finger_midpoint": [ + 0.004357667423071032, + 0.011668254566346375, + 0.0 + ], + "finger_gap": 0.024910835393070034, + "fingertip_max_gap": 0.09132964680656974, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012455417696535014, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1597341600569973, + "object_top_z": 1.209793098462404, + "finger_top_clearance": 0.05005893840540665, + "fingertip_min_top_clearance": 0.015017681521622028, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012455417696535014, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816482340328487, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8370402100671389, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3050852181400737, + -0.3785035256578021, + 0.8515396287423049 + ], + "target_position": [ + 0.29962252654140537, + -0.3788403060416387, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00547306317605589, + "xy_threshold": 0.08, + "gripper_dist": 0.18162307537275474, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396287423049, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557503545461786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14956097916862024, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008500814437866211, + "max_z_decrease": 0.008500814437866211, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500218157604699, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008500814437866211, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02089337857395355, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008500814437866211, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008501066802921516, + "max_button_displacement": 0.12, + "button_start": [ + 0.15532244741916656, + -0.43510177731513977, + 0.7768088579177856 + ], + "button_final": [ + 0.15532244741916656, + -0.43510177731513977, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15525618715375752, + -0.43481229270228033, + 0.8033091777940579 + ], + "closest_button": [ + 0.15525968372821808, + -0.43508303165435797, + 0.7683080434799194 + ], + "closest_ee_minus_button": [ + -3.4965744605541804e-06, + 0.00027073895207763155, + 0.03500113431413843 + ], + "button_min_z_position": [ + 0.15525968372821808, + -0.43508303165435797, + 0.7683080434799194 + ], + "min_active_finger_to_button": 0.1457032829526239, + "closest_active_finger": [ + 0.027465149760246277, + -0.4960850775241852, + 0.8108974695205688 + ], + "closest_active_finger_button": [ + 0.15532109141349792, + -0.4351023137569428, + 0.7767887115478516 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12785594165325165, + -0.060982763767242376, + 0.034108757972717285 + ], + "min_contact_pad_to_button": 0.02089337857395355, + "closest_contact_pad": [ + 0.15525968372821808, + -0.43615528347904303, + 0.7891738898384787 + ], + "closest_contact_pad_button": [ + 0.15525968372821808, + -0.43508303165435797, + 0.7683080434799194 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010722518246850665, + 0.02086584635855926 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 78, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8b3aaf7950740f9d3e7c2699f3c98dc308907e4d4a1adc1921196ded2010f74c", + "visual_seed": 8961922685274583974, + "episode_index": 78, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9072a23d8099388ef3c797ebc477bd0dc2f26ee1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_79_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23697313705624518, + -0.048859590234786233, + 0.9971115898568564 + ], + "current_z": 0.9971115898568564, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.14052508244829076, + "gripper_z": 1.0000549738252125, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23248834765710405, + -0.05322323732612258, + 1.0000549738252125 + ], + "object_minus_gripper": [ + 0.004484789399141126, + 0.0043636470913363465, + -0.002943383968356028 + ], + "object_to_gripper_xy": 0.006257375799197038, + "object_to_gripper_z": -0.002943383968356028, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23697313705624518, + -0.07312456673994193, + 0.9971115898568564 + ], + "finger_b": [ + 0.22637684632085622, + -0.048859590234786233, + 0.9971115898568564 + ], + "finger_midpoint": [ + 0.2316749916885507, + -0.060992078487364085, + 0.9971115898568564 + ], + "object_minus_finger_midpoint": [ + 0.005298145367694462, + 0.012132488252577851, + 0.0 + ], + "finger_gap": 0.026477735215547565, + "fingertip_max_gap": 0.0931977783077591, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01323886760777378, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971115898568564, + "object_top_z": 1.0428800169002015, + "finger_top_clearance": 0.04576842704334505, + "fingertip_min_top_clearance": 0.013730528113003515, + "object_projection_between_fingers": 0.8398429495868228, + "object_to_finger_line_xy": 0.009710752964439098, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049098889153879555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.170766519585712, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15731628853935808, + 0.23429720659717987, + 0.7611063888054767 + ], + "gripper_position": [ + 0.16007233570395163, + 0.19834871711711932, + 1.0186676829448307 + ], + "target_minus_gripper": [ + -0.0027560471645935447, + 0.03594848948006055, + -0.257561294139354 + ], + "held_position": [ + 0.16456854814315702, + 0.20259781683702444, + 1.0155733280077808 + ], + "held_minus_target": [ + 0.007252259603798938, + -0.03169938976015543, + 0.2544669392023041 + ], + "held_minus_gripper": [ + 0.004496212439205394, + 0.004249099719905114, + -0.0030943549370499035 + ], + "xy_dist": 0.036053983023675594, + "held_xy_dist": 0.03251840372046483, + "held_gripper_dist": 0.00691706637271959, + "max_held_gripper_dist": 0.00692150183280715, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0155733280077808, + "required_height": 0.7911063888054767, + "gripper_z": 1.0186676829448307, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16836750234503, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.9809367782844878, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.053592262357871, + "max_source_tilt_deg": 89.91784241477438, + "source_upright_tilt_deg": 2.915145920514926, + "max_source_upright_tilt_deg": 89.74091420224862, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.053592262357871, + "source_upright_return_tilt_deg": 2.915145920514926, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1573, + 0.2343, + 0.7611 + ], + "controller_target_position": [ + 0.1573, + 0.2343, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0012, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.1561, + 0.2102, + 1.0275 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0686, + 0.0657, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012624551772202558, + 0.0011513725840540277, + 0.0011051444336141808 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.915132337735029, + "source_return_step_error_deg": 2.053547409989431, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9131888945086057, + "source_return_best_wrist_position": -1.6092685461044312, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092685461044312 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1573, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1573, + 0.2343, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0012, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1561, + 0.2102, + 1.0275 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0686, + 0.0657, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012624551772202558, + 0.0011513725840540277, + 0.0011051444336141808 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.915132337735029, + "pour_controller_source_return_step_error_deg": 2.053547409989431, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9131888945086057, + "pour_controller_source_return_best_wrist_position": -1.6092685461044312, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092685461044312, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036053983023675594, + "valid_pour_held_xy_dist": 0.03251840372046483, + "valid_pour_held_gripper_dist": 0.00691706637271959, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0155733280077808, + "valid_pour_source_tilt_deg": 2.053592262357871, + "valid_pour_source_upright_tilt_deg": 2.915145920514926, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16456854814315702, + 0.1788247530823837, + 1.0155733280077808 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1539994199294592, + 0.20259781683702444, + 1.0155733280077808 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1592839840363081, + 0.19071128495970407, + 1.0155733280077808 + ], + "valid_pour_held_grasp_object_position": [ + 0.16456854814315702, + 0.20259781683702444, + 1.0155733280077808 + ], + "valid_pour_held_grasp_finger_gap": 0.026016629902425814, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024146243530454605, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.038219153958457146, + -0.998705957174488, + 0.033551562927671356 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005748610966597574, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03353104633898946, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16456854814315702, + 0.1788247530823837, + 1.0155733280077808 + ], + "held_grasp_finger_b": [ + 0.1539994199294592, + 0.20259781683702444, + 1.0155733280077808 + ], + "held_grasp_midpoint": [ + 0.1592839840363081, + 0.19071128495970407, + 1.0155733280077808 + ], + "held_grasp_object_position": [ + 0.16456854814315702, + 0.20259781683702444, + 1.0155733280077808 + ], + "held_grasp_finger_gap": 0.026016629902425814, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024146243530454605, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.038219153958457146, + -0.998705957174488, + 0.033551562927671356 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005748610966597574, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03353104633898946, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21539600649539742, + -0.04641245231627491, + 0.7565864607562315 + ], + "target_position": [ + 0.21438091477200805, + -0.05027102463541829, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003989861093942137, + "xy_threshold": 0.08, + "gripper_dist": 0.21585815937843697, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864607562315, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545545391827559, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08697534310630568, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18781376476641073, + "release_required_pad_clearance": 0.053487671553152843, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9877318450268686, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1643333616241953, + 0.23109996091325968, + 1.1601529605247047 + ], + "current_z": 1.1601529605247047, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.2990465717192281, + "gripper_z": 1.1540244237377977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16148628533638035, + 0.2271937135360288, + 1.1540244237377977 + ], + "object_minus_gripper": [ + 0.0028470762878149425, + 0.003906247377230887, + 0.006128536786907057 + ], + "object_to_gripper_xy": 0.004833695476626687, + "object_to_gripper_z": 0.006128536786907057, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1643333616241953, + 0.20815678753797132, + 1.1601529605247047 + ], + "finger_b": [ + 0.15524097922713379, + 0.23109996091325968, + 1.1601529605247047 + ], + "finger_midpoint": [ + 0.15978717042566454, + 0.21962837422561549, + 1.1601529605247047 + ], + "object_minus_finger_midpoint": [ + 0.004546191198530752, + 0.011471586687644197, + 0.0 + ], + "finger_gap": 0.024679153595351177, + "fingertip_max_gap": 0.09130316481666637, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0123395767976756, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1601529605247047, + "object_top_z": 1.2102671299199912, + "finger_top_clearance": 0.050114169395286456, + "fingertip_min_top_clearance": 0.015034250818585969, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.0123395767976756, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048151582408333185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7457865144220094, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30431573422784874, + -0.3781759818995103, + 0.8515395642700537 + ], + "target_position": [ + 0.29932782916068607, + -0.378543751658262, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0050014449466608555, + "xy_threshold": 0.08, + "gripper_dist": 0.182104809432453, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395642700537, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521949651296982, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08635481492675189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15078802843782285, + "release_required_pad_clearance": 0.053177407463375945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3785408503991898, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008474886417388916, + "max_z_decrease": 0.008474886417388916, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499961867536319, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008474886417388916, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020870272025042855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008474886417388916, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847574989489259, + "max_button_displacement": 0.12, + "button_start": [ + 0.15502776205539703, + -0.43480521440505976, + 0.7768088579177856 + ], + "button_final": [ + 0.15502776205539703, + -0.43480521440505976, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15465005407301066, + -0.4339357796356383, + 0.8036910448829951 + ], + "closest_button": [ + 0.15491339564323425, + -0.4347786009311676, + 0.7687025666236877 + ], + "closest_ee_minus_button": [ + -0.00026334157022359084, + 0.0008428212955293168, + 0.0349884782593074 + ], + "button_min_z_position": [ + 0.15490779280662537, + -0.4347895979881286, + 0.7683339715003967 + ], + "min_active_finger_to_button": 0.14574594510716835, + "closest_active_finger": [ + 0.028798997402191162, + -0.4991702735424042, + 0.8104021549224854 + ], + "closest_active_finger_button": [ + 0.15502123534679413, + -0.43480449914932245, + 0.7762426137924194 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12622223794460297, + -0.06436577439308172, + 0.03415954113006592 + ], + "min_contact_pad_to_button": 0.020870272025042855, + "closest_contact_pad": [ + 0.15490779280662537, + -0.43488295876297456, + 0.7892040347050209 + ], + "closest_contact_pad_button": [ + 0.15490779280662537, + -0.4347895979881286, + 0.7683339715003967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -9.336077484595195e-05, + 0.020870063204624145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9e988df7ea68fef7bd783342ba84fed7963f7c4341b83d95ba145b707a56755b", + "visual_seed": 3571047132792163468, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7db440decc067578ed90599e8be64360043277ca --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_7_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23282805651366698, + -0.04594544740996493, + 0.9970905041660746 + ], + "current_z": 0.9970905041660746, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.14050405636215368, + "gripper_z": 1.0001550757141107, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22835352473740927, + -0.050357922228060376, + 1.0001550757141107 + ], + "object_minus_gripper": [ + 0.004474531776257701, + 0.004412474818095445, + -0.003064571548036077 + ], + "object_to_gripper_xy": 0.006284215833106493, + "object_to_gripper_z": -0.003064571548036077, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23282805651366698, + -0.07006106837621381, + 0.9970905041660746 + ], + "finger_b": [ + 0.22201739239491639, + -0.04594544740996493, + 0.9970905041660746 + ], + "finger_midpoint": [ + 0.22742272445429168, + -0.05800325789308937, + 0.9970905041660746 + ], + "object_minus_finger_midpoint": [ + 0.005405332059375295, + 0.012057810483124438, + 0.0 + ], + "finger_gap": 0.02642789498382768, + "fingertip_max_gap": 0.09300217701630886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013213947491913836, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9970905041660746, + "object_top_z": 1.0429091681087312, + "finger_top_clearance": 0.04581866394265666, + "fingertip_min_top_clearance": 0.013745599182796997, + "object_projection_between_fingers": 0.8326677681024272, + "object_to_finger_line_xy": 0.009864799237349522, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04900108850815443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.0211064332454964, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15965015310902209, + 0.22990969379410223, + 0.7611064484101213 + ], + "gripper_position": [ + 0.16341938231731298, + 0.1925047710872977, + 1.0170612038564255 + ], + "target_minus_gripper": [ + -0.0037692292082908974, + 0.03740492270680454, + -0.2559547554463042 + ], + "held_position": [ + 0.16788390465454253, + 0.19681295577616248, + 1.0138348620919224 + ], + "held_minus_target": [ + 0.008233751545520446, + -0.03309673801793975, + 0.2527284136818011 + ], + "held_minus_gripper": [ + 0.004464522337229548, + 0.004308184688864791, + -0.0032263417645030934 + ], + "xy_dist": 0.03759435238871199, + "held_xy_dist": 0.034105552802168426, + "held_gripper_dist": 0.006992974774326556, + "max_held_gripper_dist": 0.006996661219474869, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0138348620919224, + "required_height": 0.7911064484101213, + "gripper_z": 1.0170612038564255, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18432965443536, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.3151585518216455, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8723015173549749, + "max_source_tilt_deg": 89.94811936419542, + "source_upright_tilt_deg": 2.903537364360875, + "max_source_upright_tilt_deg": 89.77627733123286, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8723015173549749, + "source_upright_return_tilt_deg": 2.903537364360875, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 4.2146848510894035e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1597, + 0.2299, + 0.7611 + ], + "controller_target_position": [ + 0.1597, + 0.2299, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0003, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.1603, + 0.2049, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0686, + 0.0656, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006686736042911981, + 0.0003198732615845813, + -0.0010184494045870815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.903528562687149, + "source_return_step_error_deg": 1.8722969081386929, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.907551076326918, + "source_return_best_wrist_position": -1.6094046831130981, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094046831130981 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1597, + 0.2299, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1597, + 0.2299, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0003, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1603, + 0.2049, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0686, + 0.0656, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006686736042911981, + 0.0003198732615845813, + -0.0010184494045870815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.903528562687149, + "pour_controller_source_return_step_error_deg": 1.8722969081386929, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.907551076326918, + "pour_controller_source_return_best_wrist_position": -1.6094046831130981, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094046831130981, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03759435238871199, + "valid_pour_held_xy_dist": 0.034105552802168426, + "valid_pour_held_gripper_dist": 0.006992974774326556, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0138348620919224, + "valid_pour_source_tilt_deg": 1.8723015173549749, + "valid_pour_source_upright_tilt_deg": 2.903537364360875, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16788390465454253, + 0.17323936882026622, + 1.0138348620919224 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1569927562558976, + 0.19681295577616248, + 1.0138348620919224 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16243833045522005, + 0.18502616229821434, + 1.0138348620919224 + ], + "valid_pour_held_grasp_object_position": [ + 0.16788390465454253, + 0.19681295577616248, + 1.0138348620919224 + ], + "valid_pour_held_grasp_finger_gap": 0.025967886232970687, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023969091125777327, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.039092938114450096, + -0.9987162403193427, + 0.03221200881622698 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005914170843237311, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03364144639326563, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16788390465454253, + 0.17323936882026622, + 1.0138348620919224 + ], + "held_grasp_finger_b": [ + 0.1569927562558976, + 0.19681295577616248, + 1.0138348620919224 + ], + "held_grasp_midpoint": [ + 0.16243833045522005, + 0.18502616229821434, + 1.0138348620919224 + ], + "held_grasp_object_position": [ + 0.16788390465454253, + 0.19681295577616248, + 1.0138348620919224 + ], + "held_grasp_finger_gap": 0.025967886232970687, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023969091125777327, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.039092938114450096, + -0.9987162403193427, + 0.03221200881622698 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005914170843237311, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03364144639326563, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20244335409751793, + -0.046608454112191694, + 0.7565864078833272 + ], + "target_position": [ + 0.2108988099761079, + -0.04912063089783712, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008820757695182292, + "xy_threshold": 0.08, + "gripper_dist": 0.21129348484343405, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864078833272, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525069583380595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630542474928123, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18428063875429215, + "release_required_pad_clearance": 0.053152712374640615, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3288150393319675, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 274, + "max_placed_release_frames": 274 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16667210984045355, + 0.22426282392547187, + 1.163837733601766 + ], + "current_z": 1.163837733601766, + "required_z": 0.8611063292008319, + "initial_z": 0.7611063292008319, + "lift_margin": 0.30273140440093416, + "gripper_z": 1.1575425001597939, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16393207354671785, + 0.22027873503126338, + 1.1575425001597939 + ], + "object_minus_gripper": [ + 0.0027400362937357037, + 0.003984088894208482, + 0.006295233441972137 + ], + "object_to_gripper_xy": 0.004835365881496896, + "object_to_gripper_z": 0.006295233441972137, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16667210984045355, + 0.20140613562266824, + 1.163837733601766 + ], + "finger_b": [ + 0.15743888686872468, + 0.22426282392547187, + 1.163837733601766 + ], + "finger_midpoint": [ + 0.1620554983545891, + 0.21283447977407005, + 1.163837733601766 + ], + "object_minus_finger_midpoint": [ + 0.0046166114858644525, + 0.011428344151401815, + 0.0 + ], + "finger_gap": 0.024651178605031892, + "fingertip_max_gap": 0.09160303853055546, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012325589302515951, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163837733601766, + "object_top_z": 1.2140936017167134, + "finger_top_clearance": 0.05025586811494742, + "fingertip_min_top_clearance": 0.01507676043448426, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012325589302515951, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04830151926527773, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0035300748158025, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3112814355978236, + -0.3811076042844, + 0.8515395800458528 + ], + "target_position": [ + 0.3061407935157117, + -0.38136612975725304, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0051471386649762675, + "xy_threshold": 0.08, + "gripper_dist": 0.18455437795410742, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395800458528, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588922072070672, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08626714056730676, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15156919433214097, + "release_required_pad_clearance": 0.053133570283653384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2929913158913906, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008555710315704346, + "max_z_decrease": 0.008555710315704346, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503176616801506, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008555710315704346, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021013139058368796, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008555710315704346, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008556014834424822, + "max_button_displacement": 0.12, + "button_start": [ + 0.16184072196483612, + -0.4376275837421417, + 0.7768088579177856 + ], + "button_final": [ + 0.16184072196483612, + -0.4376275837421417, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16241877675107305, + -0.43891872279862465, + 0.8032539955210614 + ], + "closest_button": [ + 0.1617763787508011, + -0.4375948607921601, + 0.7682531476020813 + ], + "closest_ee_minus_button": [ + 0.0006423980002719654, + -0.00132386200646456, + 0.03500084791898006 + ], + "button_min_z_position": [ + 0.1617763787508011, + -0.4375948607921601, + 0.7682531476020813 + ], + "min_active_finger_to_button": 0.14511243734121812, + "closest_active_finger": [ + 0.021517977118492126, + -0.42355746030807495, + 0.8105930685997009 + ], + "closest_active_finger_button": [ + 0.16183783113956451, + -0.4376294016838074, + 0.7763887047767639 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1403198540210724, + 0.014071941375732422, + 0.03420436382293701 + ], + "min_contact_pad_to_button": 0.021013139058368796, + "closest_contact_pad": [ + 0.1617763787508011, + -0.440027313473215, + 0.789125023105753 + ], + "closest_contact_pad_button": [ + 0.1617763787508011, + -0.4375948607921601, + 0.7682531476020813 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0024324526810549085, + 0.020871875503671755 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "dfe1a92d120f8c384f46bf53cdef18b6fbf244dc030d49df3882bc26e888aea1", + "visual_seed": 494607399184308958, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5507cc617b9369dd73e21910048acbd48ae094c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_80_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23251348233976724, + -0.05295197292298657, + 0.9969296775778608 + ], + "current_z": 0.9969296775778608, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1403431701692952, + "gripper_z": 0.9999679546938804, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22790437177835948, + -0.05751594984061685, + 0.9999679546938804 + ], + "object_minus_gripper": [ + 0.004609110561407753, + 0.004563976917630282, + -0.003038277116019672 + ], + "object_to_gripper_xy": 0.006486430873133738, + "object_to_gripper_z": -0.003038277116019672, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23251348233976724, + -0.07708734267838721, + 0.9969296775778608 + ], + "finger_b": [ + 0.22139399902581486, + -0.05295197292298657, + 0.9969296775778608 + ], + "finger_midpoint": [ + 0.22695374068279106, + -0.06501965780068689, + 0.9969296775778608 + ], + "object_minus_finger_midpoint": [ + 0.005559741656976175, + 0.012067684877700317, + 0.0 + ], + "finger_gap": 0.026573652033530758, + "fingertip_max_gap": 0.09261369639121991, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01328682601676537, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9969296775778608, + "object_top_z": 1.0427829507312543, + "finger_top_clearance": 0.04585327315339349, + "fingertip_min_top_clearance": 0.013755981946018047, + "object_projection_between_fingers": 0.8249078291843165, + "object_to_finger_line_xy": 0.010099208077708472, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04880684819560996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7538601763366872, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15861270446438402, + 0.23406567235454984, + 0.7611066868287002 + ], + "gripper_position": [ + 0.16106343265161108, + 0.19674757482257543, + 1.0172548673414603 + ], + "target_minus_gripper": [ + -0.0024507281872270525, + 0.037318097531974403, + -0.2561481805127601 + ], + "held_position": [ + 0.16568294183351437, + 0.20118426277153378, + 1.0140470281687055 + ], + "held_minus_target": [ + 0.007070237369130344, + -0.03288140958301605, + 0.2529403413400053 + ], + "held_minus_gripper": [ + 0.004619509181903292, + 0.004436687948958351, + -0.0032078391727548006 + ], + "xy_dist": 0.03739848221590849, + "held_xy_dist": 0.03363295040019396, + "held_gripper_dist": 0.007163399835021167, + "max_held_gripper_dist": 0.007168616275302835, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066868287002, + "held_z": 1.0140470281687055, + "required_height": 0.7911066868287002, + "gripper_z": 1.0172548673414603, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17356527630342, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6298405400447018, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8395009196833456, + "max_source_tilt_deg": 89.91526601026852, + "source_upright_tilt_deg": 2.377878127641192, + "max_source_upright_tilt_deg": 89.9985742356053, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8395009196833456, + "source_upright_return_tilt_deg": 2.377878127641192, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.214684847164172e-08, + "max_target_xy_drift": 1.7377590822588274e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1586, + 0.2341, + 0.7611 + ], + "controller_target_position": [ + 0.1586, + 0.2341, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0002, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.1567, + 0.2088, + 1.0256 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0648, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019464778404822934, + 0.00019684961149758588, + -0.0009604963268482806 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3778724220797214, + "source_return_step_error_deg": 1.8394836278300521, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.372843058671173, + "source_return_best_wrist_position": -1.6088379621505737, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6088379621505737 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1586, + 0.2341, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1586, + 0.2341, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0002, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1567, + 0.2088, + 1.0256 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0648, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019464778404822934, + 0.00019684961149758588, + -0.0009604963268482806 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3778724220797214, + "pour_controller_source_return_step_error_deg": 1.8394836278300521, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.372843058671173, + "pour_controller_source_return_best_wrist_position": -1.6088379621505737, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6088379621505737, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03739848221590849, + "valid_pour_held_xy_dist": 0.03363295040019396, + "valid_pour_held_gripper_dist": 0.007163399835021167, + "valid_pour_required_height": 0.7911066868287002, + "valid_pour_held_z": 1.0140470281687055, + "valid_pour_source_tilt_deg": 1.8395009196833456, + "valid_pour_source_upright_tilt_deg": 2.377878127641192, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.214684847164172e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16568294183351437, + 0.17749451020840462, + 1.0140470281687055 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15460486181364275, + 0.20118426277153378, + 1.0140470281687055 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16014390182357857, + 0.1893393864899692, + 1.0140470281687055 + ], + "valid_pour_held_grasp_object_position": [ + 0.16568294183351437, + 0.20118426277153378, + 1.0140470281687055 + ], + "valid_pour_held_grasp_finger_gap": 0.02615202159353964, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023984157265446365, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028416764748119737, + -0.9991389318476849, + 0.03023048705392717 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005884156411961241, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352294952687313, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16568294183351437, + 0.17749451020840462, + 1.0140470281687055 + ], + "held_grasp_finger_b": [ + 0.15460486181364275, + 0.20118426277153378, + 1.0140470281687055 + ], + "held_grasp_midpoint": [ + 0.16014390182357857, + 0.1893393864899692, + 1.0140470281687055 + ], + "held_grasp_object_position": [ + 0.16568294183351437, + 0.20118426277153378, + 1.0140470281687055 + ], + "held_grasp_finger_gap": 0.02615202159353964, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023984157265446365, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028416764748119737, + -0.9991389318476849, + 0.03023048705392717 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005884156411961241, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352294952687313, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2192209786915666, + -0.053381292642427136, + 0.7566018678557209 + ], + "target_position": [ + 0.21097747498359454, + -0.05255477882453366, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008284834245446186, + "xy_threshold": 0.08, + "gripper_dist": 0.2202701091554108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7566018678557209, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757316688199327, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648252682087344, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19024117301487384, + "release_required_pad_clearance": 0.05324126341043672, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.444017718786702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16544215935830298, + 0.23079384408575432, + 1.1635815269922736 + ], + "current_z": 1.1635815269922736, + "required_z": 0.861106746433345, + "initial_z": 0.761106746433345, + "lift_margin": 0.3024747805589286, + "gripper_z": 1.157177350199685, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16263779849201163, + 0.2269322519455168, + 1.157177350199685 + ], + "object_minus_gripper": [ + 0.00280436086629135, + 0.003861592140237513, + 0.006404176792588645 + ], + "object_to_gripper_xy": 0.004772455733260446, + "object_to_gripper_z": 0.006404176792588645, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16544215935830298, + 0.20763615131059746, + 1.1635815269922736 + ], + "finger_b": [ + 0.1567331031162973, + 0.23079384408575432, + 1.1635815269922736 + ], + "finger_midpoint": [ + 0.16108763123730013, + 0.21921499769817587, + 1.1635815269922736 + ], + "object_minus_finger_midpoint": [ + 0.004354528121002843, + 0.011578846387578445, + 0.0 + ], + "finger_gap": 0.024741188235308558, + "fingertip_max_gap": 0.09128849655518506, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012370594117654291, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635815269922736, + "object_top_z": 1.2137904358506946, + "finger_top_clearance": 0.050208908858421, + "fingertip_min_top_clearance": 0.015062672657526265, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012370594117654291, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814424827759253, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8191735671668272, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30474862933864866, + -0.3800216353453896, + 0.8515395685069356 + ], + "target_position": [ + 0.3009188510960636, + -0.38018072511206596, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003833081128966504, + "xy_threshold": 0.08, + "gripper_dist": 0.18037790948131605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395685069356, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752832812991162, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0877018599211256, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14896265253664734, + "release_required_pad_clearance": 0.0538509299605628, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.7113267111230077, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008350372314453125, + "max_z_decrease": 0.008350372314453125, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503249755896465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008350372314453125, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020911434957739512, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008350372314453125, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008350875802521182, + "max_button_displacement": 0.12, + "button_start": [ + 0.15661877393722531, + -0.4364421963691711, + 0.7768088579177856 + ], + "button_final": [ + 0.15661877393722531, + -0.4364421963691711, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15784529895205907, + -0.43616057151427934, + 0.8038312117464614 + ], + "closest_button": [ + 0.1565376222133636, + -0.4364213943481445, + 0.7688241004943848 + ], + "closest_ee_minus_button": [ + 0.0013076767386954735, + 0.0002608228338651375, + 0.03500711125207667 + ], + "button_min_z_position": [ + 0.15652914345264432, + -0.43642282485961903, + 0.7684584856033325 + ], + "min_active_finger_to_button": 0.1445804735033221, + "closest_active_finger": [ + 0.03046349436044693, + -0.49828243255615234, + 0.8106581568717957 + ], + "closest_active_finger_button": [ + 0.15661680698394775, + -0.43644508719444264, + 0.7765260934829712 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12615331262350082, + -0.061837345361709706, + 0.03413206338882446 + ], + "min_contact_pad_to_button": 0.020911434957739512, + "closest_contact_pad": [ + 0.15652914345264432, + -0.4374111188783182, + 0.7893465536548392 + ], + "closest_contact_pad_button": [ + 0.15652914345264432, + -0.43642282485961903, + 0.7684584856033325 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000988294018699154, + 0.02088806805150667 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5e669778b0d757cec2d3d77e1476c119860f792ebafc91edc3f1387e775db50b", + "visual_seed": 820307031513947526, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1464d5533f3d3cdde5d4a5e6826269e077b67cb1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_81_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23274769734188092, + -0.05050783583374744, + 0.9991106804540082 + ], + "current_z": 0.9991106804540082, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14252411344079785, + "gripper_z": 1.0014050564144927, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22842295615834007, + -0.054979170981099695, + 1.0014050564144927 + ], + "object_minus_gripper": [ + 0.004324741183540842, + 0.004471335147352255, + -0.0022943759604845404 + ], + "object_to_gripper_xy": 0.0062206289315921955, + "object_to_gripper_z": -0.0022943759604845404, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23274769734188092, + -0.07437204531581808, + 0.9991106804540082 + ], + "finger_b": [ + 0.2216777332520304, + -0.05050783583374744, + 0.9991106804540082 + ], + "finger_midpoint": [ + 0.22721271529695566, + -0.06243994057478276, + 0.9991106804540082 + ], + "object_minus_finger_midpoint": [ + 0.005534982044925252, + 0.011932104741035322, + 0.0 + ], + "finger_gap": 0.026306740565009756, + "fingertip_max_gap": 0.09275476001470287, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013153370282504882, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9991106804540082, + "object_top_z": 1.044933327425213, + "finger_top_clearance": 0.04582264697120486, + "fingertip_min_top_clearance": 0.013746794091361458, + "object_projection_between_fingers": 0.8229245555846311, + "object_to_finger_line_xy": 0.010042138871075818, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04887738000735144, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.128956087628762, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15800408143658246, + 0.23077890832886178, + 0.7611065080147658 + ], + "gripper_position": [ + 0.1615266848672641, + 0.19196808529016224, + 1.0162945321829233 + ], + "target_minus_gripper": [ + -0.0035226034306816423, + 0.03881082303869954, + -0.25518802416815756 + ], + "held_position": [ + 0.1658877010240322, + 0.19631616157902823, + 1.0138349194419651 + ], + "held_minus_target": [ + 0.007883619587449736, + -0.034462746749833545, + 0.2527284114271994 + ], + "held_minus_gripper": [ + 0.004361016156768094, + 0.004348076288865993, + -0.0024596127409581836 + ], + "xy_dist": 0.038970356937948376, + "held_xy_dist": 0.03535296835264026, + "held_gripper_dist": 0.006631283749687903, + "max_held_gripper_dist": 0.006635266141138547, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147658, + "held_z": 1.0138349194419651, + "required_height": 0.7911065080147658, + "gripper_z": 1.0162945321829233, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18646750364557, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5046588465335171, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8456320296250328, + "max_source_tilt_deg": 89.95646022620699, + "source_upright_tilt_deg": 2.316333443143778, + "max_source_upright_tilt_deg": 89.89523408397918, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8456320296250328, + "source_upright_return_tilt_deg": 2.316333443143778, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.598131170262075e-08, + "max_target_xy_drift": 1.698993779866603e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.158, + 0.2308, + 0.7611 + ], + "controller_target_position": [ + 0.158, + 0.2308, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0016, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.157, + 0.2036, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0646, + 0.0927 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009998347246634842, + -0.0015765203601373723, + -0.0012953858637291332 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3163405723373, + "source_return_step_error_deg": 1.845652224594008, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3190249454793164, + "source_return_best_wrist_position": -1.6091820001602173, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091820001602173 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.158, + 0.2308, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.158, + 0.2308, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0016, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.157, + 0.2036, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0646, + 0.0927 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009998347246634842, + -0.0015765203601373723, + -0.0012953858637291332 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3163405723373, + "pour_controller_source_return_step_error_deg": 1.845652224594008, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3190249454793164, + "pour_controller_source_return_best_wrist_position": -1.6091820001602173, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091820001602173, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038970356937948376, + "valid_pour_held_xy_dist": 0.03535296835264026, + "valid_pour_held_gripper_dist": 0.006631283749687903, + "valid_pour_required_height": 0.7911065080147658, + "valid_pour_held_z": 1.0138349194419651, + "valid_pour_source_tilt_deg": 1.8456320296250328, + "valid_pour_source_upright_tilt_deg": 2.316333443143778, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.598131170262075e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1658877010240322, + 0.1727632519441439, + 1.0138349194419651 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1550053378882398, + 0.19631616157902823, + 1.0138349194419651 + ], + "valid_pour_held_grasp_midpoint": [ + 0.160446519456136, + 0.18453970676158607, + 1.0138349194419651 + ], + "valid_pour_held_grasp_object_position": [ + 0.1658877010240322, + 0.19631616157902823, + 1.0138349194419651 + ], + "valid_pour_held_grasp_finger_gap": 0.025945430805601973, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02384472947075015, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02858427019175558, + -0.9991829216589037, + 0.028573214078611242 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005785244129176768, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358892463863399, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1658877010240322, + 0.1727632519441439, + 1.0138349194419651 + ], + "held_grasp_finger_b": [ + 0.1550053378882398, + 0.19631616157902823, + 1.0138349194419651 + ], + "held_grasp_midpoint": [ + 0.160446519456136, + 0.18453970676158607, + 1.0138349194419651 + ], + "held_grasp_object_position": [ + 0.1658877010240322, + 0.19631616157902823, + 1.0138349194419651 + ], + "held_grasp_finger_gap": 0.025945430805601973, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02384472947075015, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02858427019175558, + -0.9991829216589037, + 0.028573214078611242 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005785244129176768, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358892463863399, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21167485196210195, + -0.05154663579452035, + 0.7565863026872958 + ], + "target_position": [ + 0.21159799954587036, + -0.050417427757062774, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0011318202532820437, + "xy_threshold": 0.08, + "gripper_dist": 0.21623914854865983, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863026872958, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528239328266915, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08758141880992464, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18742008203611746, + "release_required_pad_clearance": 0.05379070940496232, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5905600730696907, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16512639413475533, + 0.22532373289070293, + 1.162742518249967 + ], + "current_z": 1.162742518249967, + "required_z": 0.8611065080147658, + "initial_z": 0.7611065080147659, + "lift_margin": 0.30163601023520126, + "gripper_z": 1.1566410086808945, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16218003520382912, + 0.22137061676350517, + 1.1566410086808945 + ], + "object_minus_gripper": [ + 0.0029463589309262073, + 0.003953116127197759, + 0.006101509569072627 + ], + "object_to_gripper_xy": 0.004930330421478831, + "object_to_gripper_z": 0.006101509569072627, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16512639413475533, + 0.20229955493443325, + 1.162742518249967 + ], + "finger_b": [ + 0.15598558183541633, + 0.22532373289070293, + 1.162742518249967 + ], + "finger_midpoint": [ + 0.16055598798508583, + 0.21381164391256807, + 1.162742518249967 + ], + "object_minus_finger_midpoint": [ + 0.004570406149669498, + 0.011512088978134855, + 0.0 + ], + "finger_gap": 0.024772307523800077, + "fingertip_max_gap": 0.09111513951109071, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01238615376190005, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162742518249967, + "object_top_z": 1.212751243100486, + "finger_top_clearance": 0.05000872485051899, + "fingertip_min_top_clearance": 0.015002617455155697, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01238615376190005, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04805756975554536, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6903073428885615, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 368, + "max_stable_success_frames": 368, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3100304892961989, + -0.38042777855504106, + 0.8515395748415097 + ], + "target_position": [ + 0.3058450964981944, + -0.3802192125393082, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004190586194854686, + "xy_threshold": 0.08, + "gripper_dist": 0.17981456019537143, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395748415097, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525016248074633, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08698655456975866, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14846781329254846, + "release_required_pad_clearance": 0.053493277284879334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.999118751071221, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 146, + "max_placed_release_frames": 146 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008418619632720947, + "max_z_decrease": 0.008418619632720947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010458276481804, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008418619632720947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020851517647638044, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008418619632720947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008418783599140634, + "max_button_displacement": 0.12, + "button_start": [ + 0.1615450233221054, + -0.43648067116737366, + 0.7768088579177856 + ], + "button_final": [ + 0.1615450233221054, + -0.43648067116737366, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16037997287109443, + -0.43568160668089617, + 0.8033739952427662 + ], + "closest_button": [ + 0.1614927053451538, + -0.43647581338882446, + 0.7683902382850647 + ], + "closest_ee_minus_button": [ + -0.0011127324740593802, + 0.0007942067079282911, + 0.034983756957701506 + ], + "button_min_z_position": [ + 0.1614927053451538, + -0.43647581338882446, + 0.7683902382850647 + ], + "min_active_finger_to_button": 0.14645425793309283, + "closest_active_finger": [ + 0.03336811065673828, + -0.4985828995704651, + 0.8105713129043579 + ], + "closest_active_finger_button": [ + 0.1615399718284607, + -0.4364827871322632, + 0.7764480113983154 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1281718611717224, + -0.062100112438201904, + 0.03412330150604248 + ], + "min_contact_pad_to_button": 0.020851517647638044, + "closest_contact_pad": [ + 0.1614927053451538, + -0.43686312194365556, + 0.7892381585720649 + ], + "closest_contact_pad_button": [ + 0.1614927053451538, + -0.43647581338882446, + 0.7683902382850647 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003873085548311006, + 0.02084792028700022 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "27b8c0018f64d28de4eef9f2110e07d63ec8927f648a6b70ee92a00db6bd69a9", + "visual_seed": 8287540577533544059, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d78dd5ffa6f87a6dda77d5aace1684a6c8178856 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_82_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2353758319454136, + -0.05345748635661918, + 0.9984573419368165 + ], + "current_z": 0.9984573419368165, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1418707749236061, + "gripper_z": 1.0009091639252683, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23093340750377894, + -0.057970444266056326, + 1.0009091639252683 + ], + "object_minus_gripper": [ + 0.004442424441634646, + 0.004512957909437149, + -0.002451821988451841 + ], + "object_to_gripper_xy": 0.006332607994498334, + "object_to_gripper_z": -0.002451821988451841, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2353758319454136, + -0.07731187778592877, + 0.9984573419368165 + ], + "finger_b": [ + 0.22411714317441694, + -0.05345748635661918, + 0.9984573419368165 + ], + "finger_midpoint": [ + 0.22974648755991528, + -0.06538468207127397, + 0.9984573419368165 + ], + "object_minus_finger_midpoint": [ + 0.005629344385498308, + 0.011927195714654795, + 0.0 + ], + "finger_gap": 0.02637783280151887, + "fingertip_max_gap": 0.09345159231062766, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01318891640075943, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9984573419368165, + "object_top_z": 1.0442710520188174, + "finger_top_clearance": 0.04581371008200097, + "fingertip_min_top_clearance": 0.013744113024600291, + "object_projection_between_fingers": 0.8178213810066695, + "object_to_finger_line_xy": 0.010181623749948921, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04922579615531383, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.488511146089968, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1643016250814876, + 0.2354138549135632, + 0.7611063888054765 + ], + "gripper_position": [ + 0.16764401058418688, + 0.1977086031271989, + 1.017243275799372 + ], + "target_minus_gripper": [ + -0.0033423855026992744, + 0.0377052517863643, + -0.25613688699389536 + ], + "held_position": [ + 0.1721454204225382, + 0.20206872046897914, + 1.0146256365329174 + ], + "held_minus_target": [ + 0.007843795341050591, + -0.03334513444458406, + 0.25351924772744083 + ], + "held_minus_gripper": [ + 0.004501409838351317, + 0.00436011734178024, + -0.00261763926645453 + ], + "xy_dist": 0.037853104933701046, + "held_xy_dist": 0.03425526406962401, + "held_gripper_dist": 0.006791564554370621, + "max_held_gripper_dist": 0.006808852965522134, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0146256365329174, + "required_height": 0.7911063888054766, + "gripper_z": 1.017243275799372, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1748903330024, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.789866975930862, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8593507940826477, + "max_source_tilt_deg": 89.88106676351545, + "source_upright_tilt_deg": 2.5725078159123096, + "max_source_upright_tilt_deg": 89.80101906866552, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8593507940826477, + "source_upright_return_tilt_deg": 2.5725078159123096, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.4057727354849284e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1643, + 0.2354, + 0.7611 + ], + "controller_target_position": [ + 0.1643, + 0.2354, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0003, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.1647, + 0.2097, + 1.0265 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00042979522578365627, + -0.0003367075409831219, + 6.696686451719645e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.572490424403115, + "source_return_step_error_deg": 1.8593405024997232, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.584749012598561, + "source_return_best_wrist_position": -1.6092365980148315, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6092365980148315 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1643, + 0.2354, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1643, + 0.2354, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0003, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1647, + 0.2097, + 1.0265 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00042979522578365627, + -0.0003367075409831219, + 6.696686451719645e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.572490424403115, + "pour_controller_source_return_step_error_deg": 1.8593405024997232, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.584749012598561, + "pour_controller_source_return_best_wrist_position": -1.6092365980148315, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6092365980148315, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037853104933701046, + "valid_pour_held_xy_dist": 0.03425526406962401, + "valid_pour_held_gripper_dist": 0.006791564554370621, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0146256365329174, + "valid_pour_source_tilt_deg": 1.8593507940826477, + "valid_pour_source_upright_tilt_deg": 2.5725078159123096, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1721454204225382, + 0.1784637681134579, + 1.0146256365329174 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1611834140695341, + 0.20206872046897914, + 1.0146256365329174 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16666441724603615, + 0.19026624429121852, + 1.0146256365329174 + ], + "valid_pour_held_grasp_object_position": [ + 0.1721454204225382, + 0.20206872046897914, + 1.0146256365329174 + ], + "valid_pour_held_grasp_finger_gap": 0.026026128390325934, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02392382034115859, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03125854345872664, + -0.9989922298514067, + 0.032209131583343716 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005859418097934567, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0335809711472117, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1721454204225382, + 0.1784637681134579, + 1.0146256365329174 + ], + "held_grasp_finger_b": [ + 0.1611834140695341, + 0.20206872046897914, + 1.0146256365329174 + ], + "held_grasp_midpoint": [ + 0.16666441724603615, + 0.19026624429121852, + 1.0146256365329174 + ], + "held_grasp_object_position": [ + 0.1721454204225382, + 0.20206872046897914, + 1.0146256365329174 + ], + "held_grasp_finger_gap": 0.026026128390325934, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02392382034115859, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03125854345872664, + -0.9989922298514067, + 0.032209131583343716 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005859418097934567, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0335809711472117, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2212732952572037, + -0.058792277293928344, + 0.7565862617823362 + ], + "target_position": [ + 0.21401574609107404, + -0.05447860905510398, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008442733773691523, + "xy_threshold": 0.08, + "gripper_dist": 0.22168000634783344, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862617823362, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587031959609636, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08763661049287529, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1906799364732617, + "release_required_pad_clearance": 0.053818305246437645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6458682974755687, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 225, + "max_placed_release_frames": 225 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.17153269066111024, + 0.22995532919443878, + 1.1616095614896844 + ], + "current_z": 1.1616095614896844, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3005031726842079, + "gripper_z": 1.1554003436564666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16846380342238973, + 0.2258550888258256, + 1.1554003436564666 + ], + "object_minus_gripper": [ + 0.003068887238720508, + 0.004100240368613173, + 0.006209217833217817 + ], + "object_to_gripper_xy": 0.005121527112530663, + "object_to_gripper_z": 0.006209217833217817, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.17153269066111024, + 0.20676451580961258, + 1.1616095614896844 + ], + "finger_b": [ + 0.16227124585285418, + 0.22995532919443878, + 1.1616095614896844 + ], + "finger_midpoint": [ + 0.16690196825698222, + 0.21835992250202568, + 1.1616095614896844 + ], + "object_minus_finger_midpoint": [ + 0.004630722404128013, + 0.011595406692413102, + 0.0 + ], + "finger_gap": 0.024971747743924678, + "fingertip_max_gap": 0.09170109000182738, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012485873871962332, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1616095614896844, + "object_top_z": 1.2118661266139972, + "finger_top_clearance": 0.05025656512431276, + "fingertip_min_top_clearance": 0.01507696953729386, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012485873871962332, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048350545000913694, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.075782519613264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 369, + "max_stable_success_frames": 369, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3062187770939764, + -0.37988738404864875, + 0.8515395439955432 + ], + "target_position": [ + 0.3004098689974402, + -0.38066434120476417, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005860637823346742, + "xy_threshold": 0.08, + "gripper_dist": 0.1827182541044859, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395439955432, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515386709303533, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08693363010897041, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15184574294197734, + "release_required_pad_clearance": 0.05346681505448521, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9467505004997352, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008640050888061523, + "max_z_decrease": 0.008640050888061523, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505658776597327, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008640050888061523, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02092393035628183, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008640050888061523, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008641072584774737, + "max_button_displacement": 0.12, + "button_start": [ + 0.15610979497432703, + -0.4369257986545562, + 0.7768088579177856 + ], + "button_final": [ + 0.15610979497432703, + -0.4369257986545562, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1578164916070368, + -0.4370024212823805, + 0.8035526449546899 + ], + "closest_button": [ + 0.15599341690540308, + -0.43689396977424616, + 0.7685436606407166 + ], + "closest_ee_minus_button": [ + 0.0018230747016337312, + -0.0001084515081343218, + 0.03500898431397337 + ], + "button_min_z_position": [ + 0.1559815108776092, + -0.4368911683559417, + 0.7681688070297241 + ], + "min_active_finger_to_button": 0.14414821936556654, + "closest_active_finger": [ + 0.016808561980724335, + -0.4226454794406891, + 0.8108391761779785 + ], + "closest_active_finger_button": [ + 0.1561074703931808, + -0.43692567944526667, + 0.7766251564025879 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13929890841245646, + 0.014280200004577581, + 0.034214019775390625 + ], + "min_contact_pad_to_button": 0.02092393035628183, + "closest_contact_pad": [ + 0.1559815108776092, + -0.43801903978978146, + 0.7890623172083241 + ], + "closest_contact_pad_button": [ + 0.1559815108776092, + -0.4368911683559417, + 0.7681688070297241 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011278714338397444, + 0.020893510178599972 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b9fe3e4f3452cd085b9302bf2657360dafa5a6a6ca2ec74884732ef587b1774f", + "visual_seed": 7190767625457939013, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c659b8c6831f43e8777fdf351ba4f27196bc6fde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_83_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23157665158116086, + -0.05411982617803125, + 0.9994381880424963 + ], + "current_z": 0.9994381880424963, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1428516806339306, + "gripper_z": 1.0017193261221093, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22720249126863412, + -0.0586384205918367, + 1.0017193261221093 + ], + "object_minus_gripper": [ + 0.0043741603125267425, + 0.004518594413805449, + -0.0022811380796130543 + ], + "object_to_gripper_xy": 0.006288956504552871, + "object_to_gripper_z": -0.0022811380796130543, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23157665158116086, + -0.07800514507333664, + 0.9994381880424963 + ], + "finger_b": [ + 0.22041250723060088, + -0.05411982617803125, + 0.9994381880424963 + ], + "finger_midpoint": [ + 0.22599457940588086, + -0.06606248562568395, + 0.9994381880424963 + ], + "object_minus_finger_midpoint": [ + 0.005582072175280006, + 0.011942659447652701, + 0.0 + ], + "finger_gap": 0.026365632513000198, + "fingertip_max_gap": 0.09242616550331348, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013182816256500111, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9994381880424963, + "object_top_z": 1.0451540293904915, + "finger_top_clearance": 0.04571584134799522, + "fingertip_min_top_clearance": 0.013714752404398583, + "object_projection_between_fingers": 0.8207023913248636, + "object_to_finger_line_xy": 0.010113891554654137, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04871308275165674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9875122486910288, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16201347727436627, + 0.23966251869663666, + 0.7611065080147659 + ], + "gripper_position": [ + 0.16475832611453323, + 0.20291894961494006, + 1.018804039132199 + ], + "target_minus_gripper": [ + -0.002744848840166958, + 0.0367435690816966, + -0.2576975311174332 + ], + "held_position": [ + 0.16924987268672761, + 0.20723160602040613, + 1.0163571200376884 + ], + "held_minus_target": [ + 0.007236395412361346, + -0.03243091267623052, + 0.25525061202292254 + ], + "held_minus_gripper": [ + 0.004491546572194388, + 0.004312656405466075, + -0.002446919094510669 + ], + "xy_dist": 0.03684595044257613, + "held_xy_dist": 0.03322844437492273, + "held_gripper_dist": 0.00669032203536419, + "max_held_gripper_dist": 0.006693536059254731, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147659, + "held_z": 1.0163571200376884, + "required_height": 0.7911065080147659, + "gripper_z": 1.018804039132199, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16308776611662, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3215703363863749, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.068634245627572, + "max_source_tilt_deg": 89.92909592823732, + "source_upright_tilt_deg": 1.8007124427691963, + "max_source_upright_tilt_deg": 89.71300791494303, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.068634245627572, + "source_upright_return_tilt_deg": 1.8007124427691963, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.3726900748371916e-08, + "max_target_xy_drift": 3.607189189466895e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.162, + 0.2397, + 0.7611 + ], + "controller_target_position": [ + 0.162, + 0.2397, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + 0.0007, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.163, + 0.2148, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0663, + 0.0635, + 0.0928 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010149829650452705, + 0.0007373449882376493, + 0.0016740784152868096 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.8007151330718476, + "source_return_step_error_deg": 2.068642952187119, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.068438564204194, + "source_return_best_wrist_position": -1.6095045804977417, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095045804977417 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.162, + 0.2397, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.162, + 0.2397, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + 0.0007, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.163, + 0.2148, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0663, + 0.0635, + 0.0928 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010149829650452705, + 0.0007373449882376493, + 0.0016740784152868096 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.8007151330718476, + "pour_controller_source_return_step_error_deg": 2.068642952187119, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.068438564204194, + "pour_controller_source_return_best_wrist_position": -1.6095045804977417, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095045804977417, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03684595044257613, + "valid_pour_held_xy_dist": 0.03322844437492273, + "valid_pour_held_gripper_dist": 0.00669032203536419, + "valid_pour_required_height": 0.7911065080147659, + "valid_pour_held_z": 1.0163571200376884, + "valid_pour_source_tilt_deg": 2.068634245627572, + "valid_pour_source_upright_tilt_deg": 1.8007124427691963, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.3726900748371916e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16924987268672761, + 0.1833872924337863, + 1.0163571200376884 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15870740715769474, + 0.20723160602040613, + 1.0163571200376884 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16397863992221118, + 0.1953094492270962, + 1.0163571200376884 + ], + "valid_pour_held_grasp_object_position": [ + 0.16924987268672761, + 0.20723160602040613, + 1.0163571200376884 + ], + "valid_pour_held_grasp_finger_gap": 0.026070958360749033, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02391901060594863, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008202243650460185, + -0.9995061777906022, + 0.030333541789902996 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005380965952680659, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03332719153378216, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16924987268672761, + 0.1833872924337863, + 1.0163571200376884 + ], + "held_grasp_finger_b": [ + 0.15870740715769474, + 0.20723160602040613, + 1.0163571200376884 + ], + "held_grasp_midpoint": [ + 0.16397863992221118, + 0.1953094492270962, + 1.0163571200376884 + ], + "held_grasp_object_position": [ + 0.16924987268672761, + 0.20723160602040613, + 1.0163571200376884 + ], + "held_grasp_finger_gap": 0.026070958360749033, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02391901060594863, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008202243650460185, + -0.9995061777906022, + 0.030333541789902996 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005380965952680659, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03332719153378216, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19438673400877943, + -0.052852499302506885, + 0.7565862030155684 + ], + "target_position": [ + 0.21064987277736397, + -0.05400147642042539, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01630367538390463, + "xy_threshold": 0.08, + "gripper_dist": 0.20559627113091605, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862030155684, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531799917418669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08754526929964908, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.17893475313968288, + "release_required_pad_clearance": 0.05377263464982454, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5485189194682314, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 264, + "max_placed_release_frames": 264 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16895199035900454, + 0.2373818368111429, + 1.1633262606405697 + ], + "current_z": 1.1633262606405697, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3022196930211589, + "gripper_z": 1.1568864049339471, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16594522569362735, + 0.23339878080613452, + 1.1568864049339471 + ], + "object_minus_gripper": [ + 0.003006764665377193, + 0.003983056005008367, + 0.006439855706622533 + ], + "object_to_gripper_xy": 0.004990527917164079, + "object_to_gripper_z": 0.006439855706622533, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16895199035900454, + 0.21404362120085413, + 1.1633262606405697 + ], + "finger_b": [ + 0.1601164868738032, + 0.2373818368111429, + 1.1633262606405697 + ], + "finger_midpoint": [ + 0.16453423861640387, + 0.2257127290059985, + 1.1633262606405697 + ], + "object_minus_finger_midpoint": [ + 0.004417751742600673, + 0.01166910780514438, + 0.0 + ], + "finger_gap": 0.02495472760238691, + "fingertip_max_gap": 0.09169803932509893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012477363801193455, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633262606405697, + "object_top_z": 1.2135796084403214, + "finger_top_clearance": 0.05025334779975177, + "fingertip_min_top_clearance": 0.01507600433992553, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012477363801193455, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834901966254947, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0648895516326102, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30673110366717127, + -0.38356493134025405, + 0.8515395865742187 + ], + "target_position": [ + 0.3011907566313768, + -0.3842085334095764, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0055776042258906, + "xy_threshold": 0.08, + "gripper_dist": 0.1830747971014532, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395865742187, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577995184253265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511417642926176, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1504193666404081, + "release_required_pad_clearance": 0.052557088214630884, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.18130816199261818, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008405685424804688, + "max_z_decrease": 0.008405685424804688, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503583224273796, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008405685424804688, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020870856072048638, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008405685424804688, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008406110368555347, + "max_button_displacement": 0.12, + "button_start": [ + 0.15689067542552945, + -0.4404699802398681, + 0.7768088579177856 + ], + "button_final": [ + 0.15689067542552945, + -0.4404699802398681, + 0.7768089175224304 + ], + "closest_ee": [ + 0.1570070845217576, + -0.43891568963904615, + 0.8037662496192298 + ], + "closest_button": [ + 0.15680681169033045, + -0.4404421150684356, + 0.7687642574310303 + ], + "closest_ee_minus_button": [ + 0.0002002728314271507, + 0.0015264254293894663, + 0.03500199218819955 + ], + "button_min_z_position": [ + 0.1568079143762588, + -0.4404528141021728, + 0.768403172492981 + ], + "min_active_finger_to_button": 0.1450027558415138, + "closest_active_finger": [ + 0.031072698533535004, + -0.5039629340171814, + 0.8107019066810608 + ], + "closest_active_finger_button": [ + 0.156885415315628, + -0.4404687285423278, + 0.776563286781311 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.125812716782093, + -0.06349420547485357, + 0.034138619899749756 + ], + "min_contact_pad_to_button": 0.020870856072048638, + "closest_contact_pad": [ + 0.1568079143762588, + -0.4404528141021728, + 0.7892740285650296 + ], + "closest_contact_pad_button": [ + 0.1568079143762588, + -0.4404528141021728, + 0.768403172492981 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020870856072048638 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b5cb144a1face656a3afcdfa10680f0ca15ed472318fbaf72b2c78ba10a2a776", + "visual_seed": 1208421791721192932, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7ae717daf2091e5d7b2ecaf3bc4b5c85b5303777 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_84_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23755593614905965, + -0.056305369490311986, + 0.9955654622318235 + ], + "current_z": 0.9955654622318235, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13897895482325795, + "gripper_z": 0.998373737878106, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23317176525729041, + -0.06078575395699602, + 0.998373737878106 + ], + "object_minus_gripper": [ + 0.004384170891769235, + 0.004480384466684036, + -0.0028082756462824987 + ], + "object_to_gripper_xy": 0.006268556402995847, + "object_to_gripper_z": -0.0028082756462824987, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23755593614905965, + -0.0801969264018992, + 0.9955654622318235 + ], + "finger_b": [ + 0.226445936869073, + -0.056305369490311986, + 0.9955654622318235 + ], + "finger_midpoint": [ + 0.23200093650906634, + -0.0682511479461056, + 0.9955654622318235 + ], + "object_minus_finger_midpoint": [ + 0.005554999639993313, + 0.011945778455793608, + 0.0 + ], + "finger_gap": 0.026348407459672294, + "fingertip_max_gap": 0.09307409253550061, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013174203729836144, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955654622318235, + "object_top_z": 1.0414244225862532, + "finger_top_clearance": 0.04585896035442971, + "fingertip_min_top_clearance": 0.01375768810632893, + "object_projection_between_fingers": 0.8222050915511332, + "object_to_finger_line_xy": 0.010074050224544204, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04903704626775031, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2136834276115627, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15641110260147661, + 0.23300825615391205, + 0.761106567619411 + ], + "gripper_position": [ + 0.1592601680224069, + 0.19579227943091237, + 1.0180024669096985 + ], + "target_minus_gripper": [ + -0.0028490654209302746, + 0.03721597672299967, + -0.25689589929028755 + ], + "held_position": [ + 0.16371789773955303, + 0.20009187490184682, + 1.0150318927243192 + ], + "held_minus_target": [ + 0.007306795138076416, + -0.032916381252065224, + 0.2539253251049082 + ], + "held_minus_gripper": [ + 0.004457729717146142, + 0.0042995954709344475, + -0.002970574185379382 + ], + "xy_dist": 0.03732487236709047, + "held_xy_dist": 0.03371761275537057, + "held_gripper_dist": 0.00686892906031575, + "max_held_gripper_dist": 0.006874163136307149, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106567619411, + "held_z": 1.0150318927243192, + "required_height": 0.791106567619411, + "gripper_z": 1.0180024669096985, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17312814419654, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.680309565020032, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9111317272527877, + "max_source_tilt_deg": 89.8210482099249, + "source_upright_tilt_deg": 2.1709509911329397, + "max_source_upright_tilt_deg": 89.78223479731047, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9111317272527877, + "source_upright_return_tilt_deg": 2.1709509911329397, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.959941750461743e-07, + "max_target_xy_drift": 2.2351741790771484e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1564, + 0.233, + 0.7611 + ], + "controller_target_position": [ + 0.1564, + 0.233, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0017, + -0.0002, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.1548, + 0.2074, + 1.0272 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0644, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016566308019135682, + -0.00023216966318500014, + 0.000659127078849671 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.170968720151897, + "source_return_step_error_deg": 1.9111519833530306, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1685327611458107, + "source_return_best_wrist_position": -1.6094144582748413, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094144582748413 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1564, + 0.233, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1564, + 0.233, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0017, + -0.0002, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1548, + 0.2074, + 1.0272 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0644, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0016566308019135682, + -0.00023216966318500014, + 0.000659127078849671 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.170968720151897, + "pour_controller_source_return_step_error_deg": 1.9111519833530306, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1685327611458107, + "pour_controller_source_return_best_wrist_position": -1.6094144582748413, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094144582748413, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03732487236709047, + "valid_pour_held_xy_dist": 0.03371761275537057, + "valid_pour_held_gripper_dist": 0.00686892906031575, + "valid_pour_required_height": 0.791106567619411, + "valid_pour_held_z": 1.0150318927243192, + "valid_pour_source_tilt_deg": 1.9111317272527877, + "valid_pour_source_upright_tilt_deg": 2.1709509911329397, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.959941750461743e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16371789773955303, + 0.17642051964311278, + 1.0150318927243192 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15298405270293652, + 0.20009187490184682, + 1.0150318927243192 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15835097522124478, + 0.1882561972724798, + 1.0150318927243192 + ], + "valid_pour_held_grasp_object_position": [ + 0.16371789773955303, + 0.20009187490184682, + 1.0150318927243192 + ], + "valid_pour_held_grasp_finger_gap": 0.025991315646871214, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023898312052190066, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022726870181432098, + -0.9992822587024249, + 0.030306052437365286 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005645812338291737, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349501564241054, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16371789773955303, + 0.17642051964311278, + 1.0150318927243192 + ], + "held_grasp_finger_b": [ + 0.15298405270293652, + 0.20009187490184682, + 1.0150318927243192 + ], + "held_grasp_midpoint": [ + 0.15835097522124478, + 0.1882561972724798, + 1.0150318927243192 + ], + "held_grasp_object_position": [ + 0.16371789773955303, + 0.20009187490184682, + 1.0150318927243192 + ], + "held_grasp_finger_gap": 0.025991315646871214, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023898312052190066, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022726870181432098, + -0.9992822587024249, + 0.030306052437365286 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005645812338291737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349501564241054, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21517339740905456, + -0.050661232855038575, + 0.7565864551302234 + ], + "target_position": [ + 0.2160504511131959, + -0.05712280697148983, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006520825351314118, + "xy_threshold": 0.08, + "gripper_dist": 0.216769957832232, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864551302234, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756525114895527, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08726011635490892, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18889605041063173, + "release_required_pad_clearance": 0.05363005817745446, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.269753600438668, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1632024731337516, + 0.22817196483596588, + 1.1606160629829967 + ], + "current_z": 1.1606160629829967, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.29950949536358573, + "gripper_z": 1.1543222415446655, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16048009699451934, + 0.22437282941371228, + 1.1543222415446655 + ], + "object_minus_gripper": [ + 0.002722376139232263, + 0.0037991354222536022, + 0.006293821438331237 + ], + "object_to_gripper_xy": 0.00467383801602957, + "object_to_gripper_z": 0.006293821438331237, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1632024731337516, + 0.2050925370795206, + 1.1606160629829967 + ], + "finger_b": [ + 0.15455704688947494, + 0.22817196483596588, + 1.1606160629829967 + ], + "finger_midpoint": [ + 0.15887976001161327, + 0.21663225095774324, + 1.1606160629829967 + ], + "object_minus_finger_midpoint": [ + 0.004322713122138333, + 0.01153971387822264, + 0.0 + ], + "finger_gap": 0.024645554984828493, + "fingertip_max_gap": 0.09127286133828041, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012322777492414247, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1606160629829967, + "object_top_z": 1.2107584660273352, + "finger_top_clearance": 0.05014240304433848, + "fingertip_min_top_clearance": 0.01504272091330151, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012322777492414247, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04813643066914021, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8069514623133864, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3099094837266186, + -0.3855769305359169, + 0.851539582305615 + ], + "target_position": [ + 0.3054165816875775, + -0.3852090884990677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004507934837205698, + "xy_threshold": 0.08, + "gripper_dist": 0.183563898400374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539582305615, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516900028164142, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08871396807857466, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15223091267551003, + "release_required_pad_clearance": 0.054356984039287334, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.737300641870654, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008739829063415527, + "max_z_decrease": 0.008739829063415527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505008816072064, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008739829063415527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021041219246353392, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008739829063415527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00874065726050025, + "max_button_displacement": 0.12, + "button_start": [ + 0.16111651062965393, + -0.4414705336093903, + 0.7768088579177856 + ], + "button_final": [ + 0.16111651062965393, + -0.4414705336093903, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16194847637376802, + -0.44320902339513046, + 0.8038310218593764 + ], + "closest_button": [ + 0.16102495789527893, + -0.4414693117141724, + 0.7688363194465637 + ], + "closest_ee_minus_button": [ + 0.0009235184784890937, + -0.0017397116809580448, + 0.03499470241281266 + ], + "button_min_z_position": [ + 0.16099801659584045, + -0.4414496421813965, + 0.7680690288543701 + ], + "min_active_finger_to_button": 0.14488240709690875, + "closest_active_finger": [ + 0.02086864411830902, + -0.4291648864746094, + 0.8104321360588074 + ], + "closest_active_finger_button": [ + 0.16111277043819427, + -0.4414715170860291, + 0.7762116193771362 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14024412631988525, + 0.012306630611419733, + 0.03422051668167114 + ], + "min_contact_pad_to_button": 0.021041219246353392, + "closest_contact_pad": [ + 0.16099801659584045, + -0.44418373175889003, + 0.7889318585175619 + ], + "closest_contact_pad_button": [ + 0.16099801659584045, + -0.4414496421813965, + 0.7680690288543701 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002734089577493548, + 0.02086282966319175 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7f4726d572c1d83663f88368aed0488e712bce1e1a87d1fec35a7c257c723410", + "visual_seed": 8013279342495487164, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..26065482ed3f4899b26e65da085ff7a8c71b4eed --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_85_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.22960390607358863, + -0.04857699551047611, + 0.9969632930471679 + ], + "current_z": 0.9969632930471679, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.1403766664293128, + "gripper_z": 0.9993462377410582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2253313808175371, + -0.052980958033387204, + 0.9993462377410582 + ], + "object_minus_gripper": [ + 0.00427252525605154, + 0.004403962522911094, + -0.002382944693890332 + ], + "object_to_gripper_xy": 0.006135907265173075, + "object_to_gripper_z": -0.002382944693890332, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.22960390607358863, + -0.07238472587860542, + 0.9969632930471679 + ], + "finger_b": [ + 0.21860321102476804, + -0.04857699551047611, + 0.9969632930471679 + ], + "finger_midpoint": [ + 0.22410355854917835, + -0.06048086069454077, + 0.9969632930471679 + ], + "object_minus_finger_midpoint": [ + 0.005500347524410282, + 0.011903865184064659, + 0.0 + ], + "finger_gap": 0.026226385889761717, + "fingertip_max_gap": 0.09303601206169645, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013113192944880855, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9969632930471679, + "object_top_z": 1.0428107674040934, + "finger_top_clearance": 0.04584747435692549, + "fingertip_min_top_clearance": 0.013754242307077664, + "object_projection_between_fingers": 0.824060498394639, + "object_to_finger_line_xy": 0.009986186533104313, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04901800603084823, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1553817078965896, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16199859101433367, + 0.23436356146797616, + 0.7611064484101214 + ], + "gripper_position": [ + 0.16465026308392264, + 0.19650926492420112, + 1.0174675331309373 + ], + "target_minus_gripper": [ + -0.0026516720695889673, + 0.037854296543775035, + -0.25636108472081587 + ], + "held_position": [ + 0.16898269723201056, + 0.20076138367688173, + 1.014922169461713 + ], + "held_minus_target": [ + 0.006984106217676894, + -0.03360217779109442, + 0.25381572105159156 + ], + "held_minus_gripper": [ + 0.004332434148087927, + 0.0042521187526806115, + -0.00254536366922431 + ], + "xy_dist": 0.0379470569555624, + "held_xy_dist": 0.034320316023663186, + "held_gripper_dist": 0.006582505278617217, + "max_held_gripper_dist": 0.006588265072891173, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101214, + "held_z": 1.014922169461713, + "required_height": 0.7911064484101215, + "gripper_z": 1.0174675331309373, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17186455920009, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6192661867838998, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.892764576486597, + "max_source_tilt_deg": 89.95498188221929, + "source_upright_tilt_deg": 2.2491381200836646, + "max_source_upright_tilt_deg": 89.85796142074945, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.892764576486597, + "source_upright_return_tilt_deg": 2.2491381200836646, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 2.2745635393967848e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.162, + 0.2344, + 0.7611 + ], + "controller_target_position": [ + 0.162, + 0.2344, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0004, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.1618, + 0.2085, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0646, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00018329602724818147, + -0.0004248224431867623, + 0.00017439737971541944 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.249141723652712, + "source_return_step_error_deg": 1.8927816937852446, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.249131320179073, + "source_return_best_wrist_position": -1.6095166206359863, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095166206359863 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.162, + 0.2344, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.162, + 0.2344, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0004, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1618, + 0.2085, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0646, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00018329602724818147, + -0.0004248224431867623, + 0.00017439737971541944 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.249141723652712, + "pour_controller_source_return_step_error_deg": 1.8927816937852446, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.249131320179073, + "pour_controller_source_return_best_wrist_position": -1.6095166206359863, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095166206359863, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0379470569555624, + "valid_pour_held_xy_dist": 0.034320316023663186, + "valid_pour_held_gripper_dist": 0.006582505278617217, + "valid_pour_required_height": 0.7911064484101215, + "valid_pour_held_z": 1.014922169461713, + "valid_pour_source_tilt_deg": 1.892764576486597, + "valid_pour_source_upright_tilt_deg": 2.2491381200836646, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16898269723201056, + 0.17718946559682322, + 1.014922169461713 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15830570719392328, + 0.20076138367688173, + 1.014922169461713 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16364420221296694, + 0.18897542463685246, + 1.014922169461713 + ], + "valid_pour_held_grasp_object_position": [ + 0.16898269723201056, + 0.20076138367688173, + 1.014922169461713 + ], + "valid_pour_held_grasp_finger_gap": 0.025877276484328957, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02381070782076702, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02406565160493393, + -0.9992296349547892, + 0.030999694207340944 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005632318895377872, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355181977787322, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16898269723201056, + 0.17718946559682322, + 1.014922169461713 + ], + "held_grasp_finger_b": [ + 0.15830570719392328, + 0.20076138367688173, + 1.014922169461713 + ], + "held_grasp_midpoint": [ + 0.16364420221296694, + 0.18897542463685246, + 1.014922169461713 + ], + "held_grasp_object_position": [ + 0.16898269723201056, + 0.20076138367688173, + 1.014922169461713 + ], + "held_grasp_finger_gap": 0.025877276484328957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02381070782076702, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02406565160493393, + -0.9992296349547892, + 0.030999694207340944 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005632318895377872, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355181977787322, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21042067492148941, + -0.05437688813116734, + 0.7565861114545687 + ], + "target_position": [ + 0.2087189988962362, + -0.048847738206554366, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005785084284932173, + "xy_threshold": 0.08, + "gripper_dist": 0.21657794418112253, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861114545687, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572405738378452, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723250054633207, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18579053535021628, + "release_required_pad_clearance": 0.053616250273166036, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2426937431089815, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 233, + "max_placed_release_frames": 233 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1692581594880517, + 0.22960419113844216, + 1.1621252118343994 + ], + "current_z": 1.1621252118343994, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.301018763424278, + "gripper_z": 1.1559096064760046, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16624059181596473, + 0.22549369768966507, + 1.1559096064760046 + ], + "object_minus_gripper": [ + 0.003017567672086968, + 0.004110493448777092, + 0.006215605358394827 + ], + "object_to_gripper_xy": 0.005099202981649559, + "object_to_gripper_z": 0.006215605358394827, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1692581594880517, + 0.2066138150186591, + 1.1621252118343994 + ], + "finger_b": [ + 0.15976682867291508, + 0.22960419113844216, + 1.1621252118343994 + ], + "finger_midpoint": [ + 0.1645124940804834, + 0.21810900307855063, + 1.1621252118343994 + ], + "object_minus_finger_midpoint": [ + 0.004745665407568295, + 0.011495188059891526, + 0.0 + ], + "finger_gap": 0.024872530124043526, + "fingertip_max_gap": 0.09156536288771913, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01243626506202176, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621252118343994, + "object_top_z": 1.2124429703942994, + "finger_top_clearance": 0.05031775855989995, + "fingertip_min_top_clearance": 0.015095327567970017, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01243626506202176, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04828268144385957, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0001563805543332, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 370, + "max_stable_success_frames": 370, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3040505296171731, + -0.3842143825556257, + 0.8515395547774466 + ], + "target_position": [ + 0.29845507788658737, + -0.3838066793374976, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0056102853745051895, + "xy_threshold": 0.08, + "gripper_dist": 0.18503035518821162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395547774466, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573917766125726, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08650640467071889, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15219857291376715, + "release_required_pad_clearance": 0.05325320233535945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5267159357077422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008373618125915527, + "max_z_decrease": 0.008373618125915527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504263601414441, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008373618125915527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02091768368468413, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008373618125915527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008373924141455824, + "max_button_displacement": 0.12, + "button_start": [ + 0.15415500104427332, + -0.4400681257247924, + 0.7768088579177856 + ], + "button_final": [ + 0.15415500104427332, + -0.4400681257247924, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15547759433398947, + -0.43983909827738843, + 0.8034495682704614 + ], + "closest_button": [ + 0.15408542752265927, + -0.440051257610321, + 0.7684352397918701 + ], + "closest_ee_minus_button": [ + 0.0013921668113301977, + 0.00021215933293255995, + 0.03501432847859132 + ], + "button_min_z_position": [ + 0.15408542752265927, + -0.440051257610321, + 0.7684352397918701 + ], + "min_active_finger_to_button": 0.14451006336688077, + "closest_active_finger": [ + 0.027666181325912476, + -0.5010614395141602, + 0.8106508255004883 + ], + "closest_active_finger_button": [ + 0.15415307879447937, + -0.44007045030593867, + 0.7765286564826965 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1264868974685669, + -0.06099098920822149, + 0.03412216901779175 + ], + "min_contact_pad_to_button": 0.02091768368468413, + "closest_contact_pad": [ + 0.15408542752265927, + -0.44118593089918323, + 0.7893221258034335 + ], + "closest_contact_pad_button": [ + 0.15408542752265927, + -0.440051257610321, + 0.7684352397918701 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011346732888622424, + 0.02088688601156341 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a9425a5df096b0efa00ee1e46c1ad8cf430dad7a5017e43590afad8cd0dfb93f", + "visual_seed": 203956786797366039, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5771a732d3540d5eb28d740da8df5a136a5eceaa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_86_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2371740730624671, + -0.05081979594489137, + 0.995055104669113 + ], + "current_z": 0.995055104669113, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13846865686519216, + "gripper_z": 0.9980203060384102, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2327873275658195, + -0.055136685071363975, + 0.9980203060384102 + ], + "object_minus_gripper": [ + 0.004386745496647609, + 0.0043168891264726075, + -0.0029652013692972323 + ], + "object_to_gripper_xy": 0.0061545972884190815, + "object_to_gripper_z": -0.0029652013692972323, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2371740730624671, + -0.07499458682463044, + 0.995055104669113 + ], + "finger_b": [ + 0.22662824213843114, + -0.05081979594489137, + 0.995055104669113 + ], + "finger_midpoint": [ + 0.2319011576004491, + -0.0629071913847609, + 0.995055104669113 + ], + "object_minus_finger_midpoint": [ + 0.005272915462017996, + 0.012087395439869537, + 0.0 + ], + "finger_gap": 0.026374894577182076, + "fingertip_max_gap": 0.09277668662868194, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187447288591047, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.995055104669113, + "object_top_z": 1.0408477814021158, + "finger_top_clearance": 0.0457926767330028, + "fingertip_min_top_clearance": 0.013737803019900857, + "object_projection_between_fingers": 0.8401251523382769, + "object_to_finger_line_xy": 0.00966613369754342, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888834331434097, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.804940570833983, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16194891054291333, + 0.23005748351082275, + 0.7611065676194108 + ], + "gripper_position": [ + 0.1656341968686122, + 0.19299637045245255, + 1.01791551309529 + ], + "target_minus_gripper": [ + -0.0036852863256988666, + 0.037061113058370204, + -0.2568089454758792 + ], + "held_position": [ + 0.16996557077585756, + 0.1972649385395241, + 1.0147999096636828 + ], + "held_minus_target": [ + 0.008016660232944228, + -0.03279254497129866, + 0.2536933420442721 + ], + "held_minus_gripper": [ + 0.004331373907245362, + 0.004268568087071545, + -0.0031156034316071057 + ], + "xy_dist": 0.03724389126323512, + "held_xy_dist": 0.033758226360179444, + "held_gripper_dist": 0.006832895300044744, + "max_held_gripper_dist": 0.006836978603806461, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194108, + "held_z": 1.0147999096636828, + "required_height": 0.7911065676194108, + "gripper_z": 1.01791551309529, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18165222028071, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.4990394343931106, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.887033412495003, + "max_source_tilt_deg": 89.99244088334426, + "source_upright_tilt_deg": 3.2578412375271086, + "max_source_upright_tilt_deg": 89.73857854159724, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.887033412495003, + "source_upright_return_tilt_deg": 3.2578412375271086, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2013700229374393e-07, + "max_target_xy_drift": 2.075491588888186e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1619, + 0.2301, + 0.7611 + ], + "controller_target_position": [ + 0.1619, + 0.2301, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0001, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.162, + 0.2047, + 1.0273 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0691, + 0.0661, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.2126693071090452e-05, + -0.00010327857036789337, + 0.0008465149370781343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.2578373504651, + "source_return_step_error_deg": 1.8870213459951688, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2611483418340392, + "source_return_best_wrist_position": -1.6094388961791992, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094388961791992 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1619, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1619, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0001, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.162, + 0.2047, + 1.0273 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0691, + 0.0661, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.2126693071090452e-05, + -0.00010327857036789337, + 0.0008465149370781343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.2578373504651, + "pour_controller_source_return_step_error_deg": 1.8870213459951688, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2611483418340392, + "pour_controller_source_return_best_wrist_position": -1.6094388961791992, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094388961791992, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03724389126323512, + "valid_pour_held_xy_dist": 0.033758226360179444, + "valid_pour_held_gripper_dist": 0.006832895300044744, + "valid_pour_required_height": 0.7911065676194108, + "valid_pour_held_z": 1.0147999096636828, + "valid_pour_source_tilt_deg": 1.887033412495003, + "valid_pour_source_upright_tilt_deg": 3.2578412375271086, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2013700229374393e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16996557077585756, + 0.1738249716944978, + 1.0147999096636828 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15908452774815995, + 0.1972649385395241, + 1.0147999096636828 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16452504926200875, + 0.18554495511701094, + 1.0147999096636828 + ], + "valid_pour_held_grasp_object_position": [ + 0.16996557077585756, + 0.1972649385395241, + 1.0147999096636828 + ], + "valid_pour_held_grasp_finger_gap": 0.025842390428645317, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023911709152071706, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04683589402319638, + -0.9983839110647155, + 0.032186412632822625 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005995087749999738, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033753993767882004, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16996557077585756, + 0.1738249716944978, + 1.0147999096636828 + ], + "held_grasp_finger_b": [ + 0.15908452774815995, + 0.1972649385395241, + 1.0147999096636828 + ], + "held_grasp_midpoint": [ + 0.16452504926200875, + 0.18554495511701094, + 1.0147999096636828 + ], + "held_grasp_object_position": [ + 0.16996557077585756, + 0.1972649385395241, + 1.0147999096636828 + ], + "held_grasp_finger_gap": 0.025842390428645317, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023911709152071706, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04683589402319638, + -0.9983839110647155, + 0.032186412632822625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005995087749999738, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033753993767882004, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2256389725895909, + -0.05285660458796035, + 0.7565864000941838 + ], + "target_position": [ + 0.21483046540275097, + -0.052749898756657344, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010809033894960475, + "xy_threshold": 0.08, + "gripper_dist": 0.222623014677859, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864000941838, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756497684328917, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756242782012628, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19249837536412526, + "release_required_pad_clearance": 0.053781213910063144, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.571453908328957, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1691827174788258, + 0.2276911368286454, + 1.1631017691323122 + ], + "current_z": 1.1631017691323122, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30199526111754627, + "gripper_z": 1.1569376862734173, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16621336994458102, + 0.2236456859911159, + 1.1569376862734173 + ], + "object_minus_gripper": [ + 0.0029693475342447706, + 0.004045450837529496, + 0.006164082858894915 + ], + "object_to_gripper_xy": 0.005018236468919495, + "object_to_gripper_z": 0.006164082858894915, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1691827174788258, + 0.20477554974855083, + 1.1631017691323122 + ], + "finger_b": [ + 0.15973289063726187, + 0.2276911368286454, + 1.1631017691323122 + ], + "finger_midpoint": [ + 0.16445780405804383, + 0.2162333432885981, + 1.1631017691323122 + ], + "object_minus_finger_midpoint": [ + 0.004724913420781962, + 0.011457793540047279, + 0.0 + ], + "finger_gap": 0.02478756459519447, + "fingertip_max_gap": 0.09156090315412332, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012393782297597236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631017691323122, + "object_top_z": 1.213352561207675, + "finger_top_clearance": 0.05025079207536276, + "fingertip_min_top_clearance": 0.01507523762260886, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012393782297597236, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048280451577061664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8940938103021413, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3102361901291606, + -0.37832617481424985, + 0.851539568497236 + ], + "target_position": [ + 0.30485913703675965, + -0.3787164123846879, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005391195166183461, + "xy_threshold": 0.08, + "gripper_dist": 0.18385335603080877, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539568497236, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527168493297753, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878076110477448, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152455664036663, + "release_required_pad_clearance": 0.0539038055238724, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8175097188471927, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008379220962524414, + "max_z_decrease": 0.008379220962524414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501198153160757, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008379220962524414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02096446953070801, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008379220962524414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008379784344599187, + "max_button_displacement": 0.12, + "button_start": [ + 0.1605590581893921, + -0.4349778592586517, + 0.7768088579177856 + ], + "button_final": [ + 0.1605590581893921, + -0.4349778592586517, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15995896672301088, + -0.43611046045334834, + 0.8037823970573598 + ], + "closest_button": [ + 0.16046802699565887, + -0.43495392799377436, + 0.7687932252883911 + ], + "closest_ee_minus_button": [ + -0.0005090602726479931, + -0.0011565324595739779, + 0.03498917176896865 + ], + "button_min_z_position": [ + 0.1604641228914261, + -0.43495714664459223, + 0.7684296369552612 + ], + "min_active_finger_to_button": 0.1462784477574806, + "closest_active_finger": [ + 0.01890433579683304, + -0.4222298860549927, + 0.8107854723930359 + ], + "closest_active_finger_button": [ + 0.16055403649806976, + -0.43497896194458, + 0.7765771746635437 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14164970070123672, + 0.012749075889587347, + 0.03420829772949219 + ], + "min_contact_pad_to_button": 0.02096446953070801, + "closest_contact_pad": [ + 0.1604641228914261, + -0.43707876812672425, + 0.7892864752820676 + ], + "closest_contact_pad_button": [ + 0.1604641228914261, + -0.43495714664459223, + 0.7684296369552612 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002121621482132019, + 0.020856838326806404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e1524896cb1c12b9ba27a6c4f33fa84658811ef927ca3ba51508ccced30d7ed9", + "visual_seed": 5209748474074996212, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b8c01146b1a5171b01161f0a6c601293d7ec6603 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_87_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23205363788107758, + -0.051885312366480515, + 0.9965055859253675 + ], + "current_z": 0.9965055859253675, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13991907851680196, + "gripper_z": 0.9994897107468578, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2276329505800263, + -0.056251013481226034, + 0.9994897107468578 + ], + "object_minus_gripper": [ + 0.004420687301051274, + 0.004365701114745518, + -0.0029841248214902416 + ], + "object_to_gripper_xy": 0.0062130364908767645, + "object_to_gripper_z": -0.0029841248214902416, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23205363788107758, + -0.07600843506591067, + 0.9965055859253675 + ], + "finger_b": [ + 0.22137509480912834, + -0.051885312366480515, + 0.9965055859253675 + ], + "finger_midpoint": [ + 0.22671436634510295, + -0.06394687371619559, + 0.9965055859253675 + ], + "object_minus_finger_midpoint": [ + 0.005339271535974632, + 0.012061561349715075, + 0.0 + ], + "finger_gap": 0.026380984267294447, + "fingertip_max_gap": 0.09301494328804347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01319049213364723, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965055859253675, + "object_top_z": 1.0423527592856883, + "finger_top_clearance": 0.04584717336032074, + "fingertip_min_top_clearance": 0.01375415200809622, + "object_projection_between_fingers": 0.836151670622537, + "object_to_finger_line_xy": 0.009764601736074636, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049007471644021736, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9653931351863743, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1587840082134685, + 0.23254366775021026, + 0.761106508014766 + ], + "gripper_position": [ + 0.16083363575949272, + 0.1962376983022842, + 1.0177093239047428 + ], + "target_minus_gripper": [ + -0.002049627546024224, + 0.03630596944792605, + -0.2566028158899768 + ], + "held_position": [ + 0.16528156191715002, + 0.20046044069490843, + 1.0145639864394742 + ], + "held_minus_target": [ + 0.006497553703681519, + -0.03208322705530184, + 0.2534574784247082 + ], + "held_minus_gripper": [ + 0.004447926157657295, + 0.0042227423926242125, + -0.0031453374652685717 + ], + "xy_dist": 0.036363778552718655, + "held_xy_dist": 0.03273456372726353, + "held_gripper_dist": 0.006892659007150997, + "max_held_gripper_dist": 0.006895747264986409, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.0145639864394742, + "required_height": 0.791106508014766, + "gripper_z": 1.0177093239047428, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17191237052427, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.406357612232423, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.0155344697278856, + "max_source_tilt_deg": 89.94415568409872, + "source_upright_tilt_deg": 2.5250064210663044, + "max_source_upright_tilt_deg": 89.86436112188206, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.0155344697278856, + "source_upright_return_tilt_deg": 2.5250064210663044, + "missing_source_orientation_samples": 0, + "target_xy_drift": 3.332000937312528e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1588, + 0.2325, + 0.7611 + ], + "controller_target_position": [ + 0.1588, + 0.2325, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + 0.0014, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.1569, + 0.2086, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018363465117668403, + 0.00135735280409203, + -0.0006025975069528752 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.525002720333443, + "source_return_step_error_deg": 2.015538594816825, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5311096901287846, + "source_return_best_wrist_position": -1.6093202829360962, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6093202829360962 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1588, + 0.2325, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1588, + 0.2325, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + 0.0014, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1569, + 0.2086, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018363465117668403, + 0.00135735280409203, + -0.0006025975069528752 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.525002720333443, + "pour_controller_source_return_step_error_deg": 2.015538594816825, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5311096901287846, + "pour_controller_source_return_best_wrist_position": -1.6093202829360962, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6093202829360962, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036363778552718655, + "valid_pour_held_xy_dist": 0.03273456372726353, + "valid_pour_held_gripper_dist": 0.006892659007150997, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.0145639864394742, + "valid_pour_source_tilt_deg": 2.0155344697278856, + "valid_pour_source_upright_tilt_deg": 2.5250064210663044, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 3.332000937312528e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16528156191715002, + 0.17674733073331203, + 1.0145639864394742 + ], + "valid_pour_held_grasp_finger_b": [ + 0.154717800067788, + 0.20046044069490843, + 1.0145639864394742 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15999968099246903, + 0.18860388571411024, + 1.0145639864394742 + ], + "valid_pour_held_grasp_object_position": [ + 0.16528156191715002, + 0.20046044069490843, + 1.0145639864394742 + ], + "valid_pour_held_grasp_finger_gap": 0.025959673504510766, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024003464234934352, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0296653210806039, + -0.999029097668771, + 0.03257039662493832 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056443357281299, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03351187023542396, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16528156191715002, + 0.17674733073331203, + 1.0145639864394742 + ], + "held_grasp_finger_b": [ + 0.154717800067788, + 0.20046044069490843, + 1.0145639864394742 + ], + "held_grasp_midpoint": [ + 0.15999968099246903, + 0.18860388571411024, + 1.0145639864394742 + ], + "held_grasp_object_position": [ + 0.16528156191715002, + 0.20046044069490843, + 1.0145639864394742 + ], + "held_grasp_finger_gap": 0.025959673504510766, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024003464234934352, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0296653210806039, + -0.999029097668771, + 0.03257039662493832 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056443357281299, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03351187023542396, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2063345878651769, + -0.053012659827848196, + 0.7565863344528758 + ], + "target_position": [ + 0.21043655544747886, + -0.052332664424772135, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004157948026907122, + "xy_threshold": 0.08, + "gripper_dist": 0.21276082654866169, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863344528758, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520733162882799, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08634689265019709, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18467941982398114, + "release_required_pad_clearance": 0.053173446325098545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3705689427287462, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 275, + "max_placed_release_frames": 275 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16555697600437913, + 0.22676794365492475, + 1.1631006000129094 + ], + "current_z": 1.1631006000129094, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30199403239349865, + "gripper_z": 1.1567094925606616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16270929594316216, + 0.22303933777259735, + 1.1567094925606616 + ], + "object_minus_gripper": [ + 0.0028476800612169673, + 0.0037286058823274015, + 0.006391107452247802 + ], + "object_to_gripper_xy": 0.004691671723040644, + "object_to_gripper_z": 0.006391107452247802, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16555697600437913, + 0.20353139784397156, + 1.1631006000129094 + ], + "finger_b": [ + 0.15712892771108777, + 0.22676794365492475, + 1.1631006000129094 + ], + "finger_midpoint": [ + 0.16134295185773345, + 0.21514967074944816, + 1.1631006000129094 + ], + "object_minus_finger_midpoint": [ + 0.0042140241466456785, + 0.011618272905476595, + 0.0 + ], + "finger_gap": 0.024717788316485308, + "fingertip_max_gap": 0.09112749137860607, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012358894158242654, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1631006000129094, + "object_top_z": 1.2130019289451497, + "finger_top_clearance": 0.04990132893224031, + "fingertip_min_top_clearance": 0.014970398679672092, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012358894158242654, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048063745689303036, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7145004478612218, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 366, + "max_stable_success_frames": 366, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30717554526425683, + -0.3837490496374789, + 0.8515395704708997 + ], + "target_position": [ + 0.3023674231090889, + -0.38458237794534944, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004879802734508368, + "xy_threshold": 0.08, + "gripper_dist": 0.1810991884462326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395704708997, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551324626234394, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08626647588505919, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14934647529790615, + "release_required_pad_clearance": 0.053133237942529596, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2923858350330393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00854581594467163, + "max_z_decrease": 0.00854581594467163, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501828786206116, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00854581594467163, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020990283822200164, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00854581594467163, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008545888056334935, + "max_button_displacement": 0.12, + "button_start": [ + 0.15806734561920166, + -0.44084385037422175, + 0.7768088579177856 + ], + "button_final": [ + 0.15806734561920166, + -0.44084385037422175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15822911163132597, + -0.44196640421270633, + 0.8032621571554039 + ], + "closest_button": [ + 0.15803872048854828, + -0.4408235251903534, + 0.768263041973114 + ], + "closest_ee_minus_button": [ + 0.00019039114277769054, + -0.0011428790223529384, + 0.03499911518228993 + ], + "button_min_z_position": [ + 0.15803872048854828, + -0.4408235251903534, + 0.768263041973114 + ], + "min_active_finger_to_button": 0.14552051531996013, + "closest_active_finger": [ + 0.017502687871456146, + -0.42504584789276123, + 0.8105873465538025 + ], + "closest_active_finger_button": [ + 0.15806183218955994, + -0.4408457577228546, + 0.7763863205909729 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1405591443181038, + 0.015799909830093384, + 0.03420102596282959 + ], + "min_contact_pad_to_button": 0.020990283822200164, + "closest_contact_pad": [ + 0.15803872048854828, + -0.44321206702862903, + 0.7891169836346639 + ], + "closest_contact_pad_button": [ + 0.15803872048854828, + -0.4408235251903534, + 0.768263041973114 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023885418382756374, + 0.020853941661549857 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f6ba66b4ee4dd685ef40b5ce01bddf682710986452d7e24c8321c47362369727", + "visual_seed": 198852049567537536, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..68e8acf5d754e38c8df358f2d83ac89a65bf4950 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_88_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23153584490216153, + -0.04811844064330418, + 0.9987024180465889 + ], + "current_z": 0.9987024180465889, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1421159106380233, + "gripper_z": 1.001095328428431, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22725141240890037, + -0.05245980653911041, + 1.001095328428431 + ], + "object_minus_gripper": [ + 0.004284432493261159, + 0.004341365895806228, + -0.002392910381842084 + ], + "object_to_gripper_xy": 0.006099493391305662, + "object_to_gripper_z": -0.002392910381842084, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23153584490216153, + -0.07204898970431321, + 0.9987024180465889 + ], + "finger_b": [ + 0.22077866341323515, + -0.04811844064330418, + 0.9987024180465889 + ], + "finger_midpoint": [ + 0.22615725415769833, + -0.0600837151738087, + 0.9987024180465889 + ], + "object_minus_finger_midpoint": [ + 0.005378590744463202, + 0.01196527453050452, + 0.0 + ], + "finger_gap": 0.02623715174989581, + "fingertip_max_gap": 0.09325563360793046, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013118575874947911, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9987024180465889, + "object_top_z": 1.0445777344452365, + "finger_top_clearance": 0.045875316398647614, + "fingertip_min_top_clearance": 0.013762594919594301, + "object_projection_between_fingers": 0.8319015854349457, + "object_to_finger_line_xy": 0.009811478846211013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04912781680396523, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2197009676205917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15497904140610308, + 0.23711656589970073, + 0.761106567619411 + ], + "gripper_position": [ + 0.1583014247232545, + 0.20154653537961814, + 1.0190276964713334 + ], + "target_minus_gripper": [ + -0.0033223833171514283, + 0.03557003052008259, + -0.2579211288519224 + ], + "held_position": [ + 0.16262676684599417, + 0.2057519024447163, + 1.01647019415858 + ], + "held_minus_target": [ + 0.00764772543989109, + -0.031364663454984426, + 0.2553636265391691 + ], + "held_minus_gripper": [ + 0.0043253421227396616, + 0.0042053670650981645, + -0.0025575023127533125 + ], + "xy_dist": 0.03572485552253071, + "held_xy_dist": 0.03228358434326017, + "held_gripper_dist": 0.006552443415299131, + "max_held_gripper_dist": 0.006557054903632929, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106567619411, + "held_z": 1.01647019415858, + "required_height": 0.791106567619411, + "gripper_z": 1.0190276964713334, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17415950276121, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.2159932596020377, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9796421212641944, + "max_source_tilt_deg": 89.93118900939783, + "source_upright_tilt_deg": 2.5208750741611357, + "max_source_upright_tilt_deg": 89.92017025817535, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9796421212641944, + "source_upright_return_tilt_deg": 2.5208750741611357, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 3.332000937312528e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.155, + 0.2371, + 0.7611 + ], + "controller_target_position": [ + 0.155, + 0.2371, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.002, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1562, + 0.2138, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001266082528277986, + 0.0019883361168690815, + 0.0017998754018694815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5208712238232116, + "source_return_step_error_deg": 1.9796245416832452, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5251897178143894, + "source_return_best_wrist_position": -1.6098389625549316, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6098389625549316 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.155, + 0.2371, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.155, + 0.2371, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.002, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1562, + 0.2138, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0651, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001266082528277986, + 0.0019883361168690815, + 0.0017998754018694815 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5208712238232116, + "pour_controller_source_return_step_error_deg": 1.9796245416832452, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5251897178143894, + "pour_controller_source_return_best_wrist_position": -1.6098389625549316, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6098389625549316, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03572485552253071, + "valid_pour_held_xy_dist": 0.03228358434326017, + "valid_pour_held_gripper_dist": 0.006552443415299131, + "valid_pour_required_height": 0.791106567619411, + "valid_pour_held_z": 1.01647019415858, + "valid_pour_source_tilt_deg": 1.9796421212641944, + "valid_pour_source_upright_tilt_deg": 2.5208750741611357, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16262676684599417, + 0.18214067705060777, + 1.01647019415858 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15208933603819122, + 0.2057519024447163, + 1.01647019415858 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1573580514420927, + 0.19394628974766204, + 1.01647019415858 + ], + "valid_pour_held_grasp_object_position": [ + 0.16262676684599417, + 0.2057519024447163, + 1.01647019415858 + ], + "valid_pour_held_grasp_finger_gap": 0.02585589705735677, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023902291384862207, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02979049148678856, + -0.9990322716573402, + 0.0323581026042975 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005630872101344139, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03356299451615215, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16262676684599417, + 0.18214067705060777, + 1.01647019415858 + ], + "held_grasp_finger_b": [ + 0.15208933603819122, + 0.2057519024447163, + 1.01647019415858 + ], + "held_grasp_midpoint": [ + 0.1573580514420927, + 0.19394628974766204, + 1.01647019415858 + ], + "held_grasp_object_position": [ + 0.16262676684599417, + 0.2057519024447163, + 1.01647019415858 + ], + "held_grasp_finger_gap": 0.02585589705735677, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023902291384862207, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02979049148678856, + -0.9990322716573402, + 0.0323581026042975 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005630872101344139, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03356299451615215, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19822716712431868, + -0.05272177918924271, + 0.7565863809828753 + ], + "target_position": [ + 0.21026563369363752, + -0.0509119973197184, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012173741731935429, + "xy_threshold": 0.08, + "gripper_dist": 0.20847511837840615, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863809828753, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554519216120331, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569496106613118, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1804086252613257, + "release_required_pad_clearance": 0.052847480533065594, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7380708179881952, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 271, + "max_placed_release_frames": 271 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16162742266280328, + 0.232087581306611, + 1.1609866238403823 + ], + "current_z": 1.1609866238403823, + "required_z": 0.861106567619411, + "initial_z": 0.761106567619411, + "lift_margin": 0.29988005622097136, + "gripper_z": 1.1547973007293157, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15895401210051466, + 0.2283490666599704, + 1.1547973007293157 + ], + "object_minus_gripper": [ + 0.0026734105622886195, + 0.0037385146466406005, + 0.006189323111066569 + ], + "object_to_gripper_xy": 0.004596043493887177, + "object_to_gripper_z": 0.006189323111066569, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16162742266280328, + 0.20898731449073432, + 1.1609866238403823 + ], + "finger_b": [ + 0.1531413027630338, + 0.232087581306611, + 1.1609866238403823 + ], + "finger_midpoint": [ + 0.15738436271291856, + 0.22053744789867266, + 1.1609866238403823 + ], + "object_minus_finger_midpoint": [ + 0.00424305994988472, + 0.01155013340793834, + 0.0 + ], + "finger_gap": 0.024609684230358517, + "fingertip_max_gap": 0.09181716929702124, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012304842115179253, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1609866238403823, + "object_top_z": 1.2110719274950754, + "finger_top_clearance": 0.0500853036546931, + "fingertip_min_top_clearance": 0.015025591096407963, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012304842115179253, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048408584648510625, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.298488848893836, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31069933169537095, + -0.3826385190334825, + 0.8515395619371894 + ], + "target_position": [ + 0.3055299789257636, + -0.3829359102440165, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005177900113825096, + "xy_threshold": 0.08, + "gripper_dist": 0.18263399149746712, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395619371894, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574026570033364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552071202235133, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14991534499183193, + "release_required_pad_clearance": 0.052760356011175666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5706105457870575, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008614420890808105, + "max_z_decrease": 0.008614420890808105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350718195347357, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008614420890808105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021007073908918098, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008614420890808105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008614854001392502, + "max_button_displacement": 0.12, + "button_start": [ + 0.1612299084663391, + -0.4391973614692688, + 0.7768088579177856 + ], + "button_final": [ + 0.1612299084663391, + -0.4391973614692688, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1626918900059181, + -0.44052262326497316, + 0.8032061183173996 + ], + "closest_button": [ + 0.16114826500415802, + -0.43916913866996765, + 0.7681944370269775 + ], + "closest_ee_minus_button": [ + 0.001543625001760085, + -0.0013534845950055052, + 0.03501168129042209 + ], + "button_min_z_position": [ + 0.16114826500415802, + -0.43916913866996765, + 0.7681944370269775 + ], + "min_active_finger_to_button": 0.14430021314327818, + "closest_active_finger": [ + 0.021639369428157806, + -0.4262531101703644, + 0.8106017112731934 + ], + "closest_active_finger_button": [ + 0.16122637689113617, + -0.4391980171203613, + 0.7763898968696594 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13958700746297836, + 0.012944906949996893, + 0.034211814403533936 + ], + "min_contact_pad_to_button": 0.021007073908918098, + "closest_contact_pad": [ + 0.16114826500415802, + -0.4415354244702152, + 0.7890678135081867 + ], + "closest_contact_pad_button": [ + 0.16114826500415802, + -0.43916913866996765, + 0.7681944370269775 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023662858002475584, + 0.020873376481209127 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "92e5fa2e208a8f1276adf5de3ed2b7a85ed159980ae5ec9ef790282cb278dbfb", + "visual_seed": 8002021464590839791, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4834ba3f4b2626371f0362aa769181eedfa57df3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_89_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23372550592684832, + -0.05254578716099119, + 0.9964073496744954 + ], + "current_z": 0.9964073496744954, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.13982090187057483, + "gripper_z": 0.9992779044989071, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22930231657338584, + -0.057003677274673606, + 0.9992779044989071 + ], + "object_minus_gripper": [ + 0.0044231893534624755, + 0.004457890113682417, + -0.002870554824411675 + ], + "object_to_gripper_xy": 0.006279919451891976, + "object_to_gripper_z": -0.002870554824411675, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23372550592684832, + -0.07649837277002083, + 0.9964073496744954 + ], + "finger_b": [ + 0.22269710785632998, + -0.05254578716099119, + 0.9964073496744954 + ], + "finger_midpoint": [ + 0.22821130689158914, + -0.06452207996550602, + 0.9964073496744954 + ], + "object_minus_finger_midpoint": [ + 0.005514199035259182, + 0.01197629280451483, + 0.0 + ], + "finger_gap": 0.026369526377235268, + "fingertip_max_gap": 0.09277277195520778, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013184763188617646, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9964073496744954, + "object_top_z": 1.0422668031327829, + "finger_top_clearance": 0.04585945345828746, + "fingertip_min_top_clearance": 0.013757836037486254, + "object_projection_between_fingers": 0.8250877573416591, + "object_to_finger_line_xy": 0.010017572751803205, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04888638597760389, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8361395239151141, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15946131069321245, + 0.2354872133301206, + 0.7611065080147661 + ], + "gripper_position": [ + 0.16283917106238027, + 0.19847937923804138, + 1.01710118678971 + ], + "target_minus_gripper": [ + -0.0033778603691678177, + 0.03700783409207922, + -0.25599467877494386 + ], + "held_position": [ + 0.16727885587586003, + 0.2028103152561322, + 1.014064934069471 + ], + "held_minus_target": [ + 0.007817545182647573, + -0.03267689807398841, + 0.25295842605470487 + ], + "held_minus_gripper": [ + 0.004439684813479755, + 0.004330936018090814, + -0.0030362527202389966 + ], + "xy_dist": 0.037161670103218664, + "held_xy_dist": 0.03359901308700248, + "held_gripper_dist": 0.006905551289868014, + "max_held_gripper_dist": 0.006910040833801461, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147661, + "held_z": 1.014064934069471, + "required_height": 0.7911065080147661, + "gripper_z": 1.01710118678971, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17799123888558, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5233281092665139, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8807277956210198, + "max_source_tilt_deg": 89.9269699759871, + "source_upright_tilt_deg": 2.447037697212792, + "max_source_upright_tilt_deg": 89.91717260873901, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8807277956210198, + "source_upright_return_tilt_deg": 2.447037697212792, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0745380149674383e-07, + "max_target_xy_drift": 2.5288109106536417e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1595, + 0.2355, + 0.7611 + ], + "controller_target_position": [ + 0.1595, + 0.2355, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.0008, + -0.0008 + ], + "controller_last_pour_pose_position": [ + 0.16, + 0.2109, + 1.0256 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0649, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004939277043617576, + 0.0007880488317664829, + -0.0008489613141830317 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.447057176196193, + "source_return_step_error_deg": 1.8807623455162112, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.44893047868956, + "source_return_best_wrist_position": -1.6095917224884033, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095917224884033 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1595, + 0.2355, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1595, + 0.2355, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.0008, + -0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.16, + 0.2109, + 1.0256 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0649, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004939277043617576, + 0.0007880488317664829, + -0.0008489613141830317 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.447057176196193, + "pour_controller_source_return_step_error_deg": 1.8807623455162112, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.44893047868956, + "pour_controller_source_return_best_wrist_position": -1.6095917224884033, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095917224884033, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037161670103218664, + "valid_pour_held_xy_dist": 0.03359901308700248, + "valid_pour_held_gripper_dist": 0.006905551289868014, + "valid_pour_required_height": 0.7911065080147661, + "valid_pour_held_z": 1.014064934069471, + "valid_pour_source_tilt_deg": 1.8807277956210198, + "valid_pour_source_upright_tilt_deg": 2.447037697212792, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0745380149674383e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16727885587586003, + 0.17928862824205177, + 1.014064934069471 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1563199404713978, + 0.2028103152561322, + 1.014064934069471 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16179939817362893, + 0.19104947174909198, + 1.014064934069471 + ], + "valid_pour_held_grasp_object_position": [ + 0.16727885587586003, + 0.2028103152561322, + 1.014064934069471 + ], + "valid_pour_held_grasp_finger_gap": 0.02594932729051986, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02381799347743516, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02899514481828502, + -0.9990881234055986, + 0.03134012199794579 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005829667188255744, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033608983566296914, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16727885587586003, + 0.17928862824205177, + 1.014064934069471 + ], + "held_grasp_finger_b": [ + 0.1563199404713978, + 0.2028103152561322, + 1.014064934069471 + ], + "held_grasp_midpoint": [ + 0.16179939817362893, + 0.19104947174909198, + 1.014064934069471 + ], + "held_grasp_object_position": [ + 0.16727885587586003, + 0.2028103152561322, + 1.014064934069471 + ], + "held_grasp_finger_gap": 0.02594932729051986, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02381799347743516, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02899514481828502, + -0.9990881234055986, + 0.03134012199794579 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005829667188255744, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033608983566296914, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20342509165061037, + -0.056914067009731666, + 0.7565916039442941 + ], + "target_position": [ + 0.2123986310993373, + -0.055281337399965096, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009120867075912614, + "xy_threshold": 0.08, + "gripper_dist": 0.21027301186363773, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565916039442941, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075733279370582, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08756298684661536, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18144377741928588, + "release_required_pad_clearance": 0.05378149342330768, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.571758293195246, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16658344191552493, + 0.2296308737897494, + 1.1600678131649338 + ], + "current_z": 1.1600678131649338, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.2989613051501677, + "gripper_z": 1.153981733769692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16352776684387108, + 0.22565236749174142, + 1.153981733769692 + ], + "object_minus_gripper": [ + 0.003055675071653857, + 0.003978506298007972, + 0.00608607939524175 + ], + "object_to_gripper_xy": 0.005016538897169632, + "object_to_gripper_z": 0.00608607939524175, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16658344191552493, + 0.20638152678187346, + 1.1600678131649338 + ], + "finger_b": [ + 0.1575985896601368, + 0.2296308737897494, + 1.1600678131649338 + ], + "finger_midpoint": [ + 0.16209101578783086, + 0.2180062002858114, + 1.1600678131649338 + ], + "object_minus_finger_midpoint": [ + 0.004492426127694071, + 0.011624673503937977, + 0.0 + ], + "finger_gap": 0.024925081872358666, + "fingertip_max_gap": 0.09135732220650028, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012462540936179347, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1600678131649338, + "object_top_z": 1.2101563106990554, + "finger_top_clearance": 0.05008849753412159, + "fingertip_min_top_clearance": 0.015026549260236444, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012462540936179347, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04817866110325014, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8804420325512732, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 367, + "max_stable_success_frames": 367, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3092736546187833, + -0.38816929840712255, + 0.8515395351245898 + ], + "target_position": [ + 0.3052684703489043, + -0.3875880228724107, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0040471449545254464, + "xy_threshold": 0.08, + "gripper_dist": 0.18144160558436573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395351245898, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516947066149664, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599378676388557, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1502399504550412, + "release_required_pad_clearance": 0.052996893381942786, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0271623171802662, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008672595024108887, + "max_z_decrease": 0.008672595024108887, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035050520111117256, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008672595024108887, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02086033507487961, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008672595024108887, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008673375328074988, + "max_button_displacement": 0.12, + "button_start": [ + 0.16096839308738703, + -0.4438494741916656, + 0.7768088579177856 + ], + "button_final": [ + 0.16096839308738703, + -0.4438494741916656, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16160623414173955, + -0.4421488932868364, + 0.8036495700778101 + ], + "closest_button": [ + 0.16087053716182703, + -0.44384637475013733, + 0.7686479091644287 + ], + "closest_ee_minus_button": [ + 0.0007356969799125201, + 0.0016974814633009538, + 0.035001660913381416 + ], + "button_min_z_position": [ + 0.16085442900657648, + -0.44382607936859125, + 0.7681362628936768 + ], + "min_active_finger_to_button": 0.14453664585122114, + "closest_active_finger": [ + 0.03467421233654022, + -0.5053091049194336, + 0.8103679418563843 + ], + "closest_active_finger_button": [ + 0.16096393764019007, + -0.4438503980636596, + 0.7762420773506165 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12628972530364985, + -0.06145870685577398, + 0.03412586450576782 + ], + "min_contact_pad_to_button": 0.02086033507487961, + "closest_contact_pad": [ + 0.16085442900657648, + -0.44382607936859125, + 0.7889965979685564 + ], + "closest_contact_pad_button": [ + 0.16085442900657648, + -0.44382607936859125, + 0.7681362628936768 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02086033507487961 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "26079571815101207c80036309971e4dea28fa62339b61a52379082f83a35f9b", + "visual_seed": 93553513505444062, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e17e96bfdfa082e31909b725eeaff663af45a31 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_8_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23367579798101956, + -0.04917818732259965, + 0.9986895388805717 + ], + "current_z": 0.9986895388805717, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1421030314720061, + "gripper_z": 1.0009023077663861, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2295382115984174, + -0.053554810626975424, + 1.0009023077663861 + ], + "object_minus_gripper": [ + 0.004137586382602171, + 0.004376623304375778, + -0.0022127688858144534 + ], + "object_to_gripper_xy": 0.00602282762677964, + "object_to_gripper_z": -0.0022127688858144534, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23367579798101956, + -0.07279497182539617, + 0.9986895388805717 + ], + "finger_b": [ + 0.222593883978651, + -0.04917818732259965, + 0.9986895388805717 + ], + "finger_midpoint": [ + 0.22813484097983527, + -0.060986579573997904, + 0.9986895388805717 + ], + "object_minus_finger_midpoint": [ + 0.005540957001184288, + 0.011808392251398257, + 0.0 + ], + "finger_gap": 0.026087570377622788, + "fingertip_max_gap": 0.09302536861063737, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013043785188811398, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9986895388805717, + "object_top_z": 1.0445230824551652, + "finger_top_clearance": 0.04583354357459357, + "fingertip_min_top_clearance": 0.013750063072378055, + "object_projection_between_fingers": 0.8195477573206124, + "object_to_finger_line_xy": 0.01003233229787306, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04901268430531869, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1668761718227296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1626059772457561, + 0.23188442547783325, + 0.7611063888054764 + ], + "gripper_position": [ + 0.16507810797548336, + 0.1950941499876248, + 1.0170583723589959 + ], + "target_minus_gripper": [ + -0.0024721307297272677, + 0.03679027549020844, + -0.25595198355351945 + ], + "held_position": [ + 0.16927535162696403, + 0.19932723327691215, + 1.0146846746024825 + ], + "held_minus_target": [ + 0.006669374381207932, + -0.0325571922009211, + 0.25357828579700603 + ], + "held_minus_gripper": [ + 0.004197243651480664, + 0.004233083289287343, + -0.0023736977565134154 + ], + "xy_dist": 0.03687323963242576, + "held_xy_dist": 0.03323328630521559, + "held_gripper_dist": 0.006416407830181566, + "max_held_gripper_dist": 0.006421184446740437, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0146846746024825, + "required_height": 0.7911063888054765, + "gripper_z": 1.0170583723589959, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18191859765834, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1766250201637252, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8692768361928824, + "max_source_tilt_deg": 89.64106546182441, + "source_upright_tilt_deg": 2.256095512819517, + "max_source_upright_tilt_deg": 89.96234341310735, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8692768361928824, + "source_upright_return_tilt_deg": 2.256095512819517, + "missing_source_orientation_samples": 0, + "target_xy_drift": 7.450580596923828e-08, + "max_target_xy_drift": 1.1638178938488147e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1626, + 0.2319, + 0.7611 + ], + "controller_target_position": [ + 0.1626, + 0.2319, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0007, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.1607, + 0.2072, + 1.0255 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0646, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018919561944193157, + 0.0006862691579029349, + -0.0010126755365641835 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.256402258331545, + "source_return_step_error_deg": 1.8695830193752363, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.25619460525055, + "source_return_best_wrist_position": -1.6094274520874023, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094274520874023 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1626, + 0.2319, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1626, + 0.2319, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0007, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1607, + 0.2072, + 1.0255 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0646, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018919561944193157, + 0.0006862691579029349, + -0.0010126755365641835 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.256402258331545, + "pour_controller_source_return_step_error_deg": 1.8695830193752363, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.25619460525055, + "pour_controller_source_return_best_wrist_position": -1.6094274520874023, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094274520874023, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03687323963242576, + "valid_pour_held_xy_dist": 0.03323328630521559, + "valid_pour_held_gripper_dist": 0.006416407830181566, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0146846746024825, + "valid_pour_source_tilt_deg": 1.8692768361928824, + "valid_pour_source_upright_tilt_deg": 2.256095512819517, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 7.450580596923828e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16927535162696403, + 0.17593050403847413, + 1.0146846746024825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15851469100617605, + 0.19932723327691215, + 1.0146846746024825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16389502131657002, + 0.18762886865769313, + 1.0146846746024825 + ], + "valid_pour_held_grasp_object_position": [ + 0.16927535162696403, + 0.19932723327691215, + 1.0146846746024825 + ], + "valid_pour_held_grasp_finger_gap": 0.02575264561268527, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023640876328236134, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024374226709670876, + -0.9992248620935866, + 0.030912328387850622 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005675273840510911, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033642069583209616, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16927535162696403, + 0.17593050403847413, + 1.0146846746024825 + ], + "held_grasp_finger_b": [ + 0.15851469100617605, + 0.19932723327691215, + 1.0146846746024825 + ], + "held_grasp_midpoint": [ + 0.16389502131657002, + 0.18762886865769313, + 1.0146846746024825 + ], + "held_grasp_object_position": [ + 0.16927535162696403, + 0.19932723327691215, + 1.0146846746024825 + ], + "held_grasp_finger_gap": 0.02575264561268527, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023640876328236134, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024374226709670876, + -0.9992248620935866, + 0.030912328387850622 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005675273840510911, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033642069583209616, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2180489810194453, + -0.050131389849971106, + 0.7565902625011864 + ], + "target_position": [ + 0.2127744861311802, + -0.052355603127729584, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005724283451340612, + "xy_threshold": 0.08, + "gripper_dist": 0.21850134992845768, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565902625011864, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562525690135112, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336888, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18943233682711505, + "release_required_pad_clearance": 0.052461859836684444, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 227, + "max_placed_release_frames": 227 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1695778862411666, + 0.22590042087638793, + 1.1636141109792373 + ], + "current_z": 1.1636141109792373, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3025077221737609, + "gripper_z": 1.15716808367121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16667210441080638, + 0.22197706318706545, + 1.15716808367121 + ], + "object_minus_gripper": [ + 0.002905781830360221, + 0.003923357689322476, + 0.006446027308027347 + ], + "object_to_gripper_xy": 0.004882243705922247, + "object_to_gripper_z": 0.006446027308027347, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1695778862411666, + 0.20259621566990957, + 1.1636141109792373 + ], + "finger_b": [ + 0.16087147143713657, + 0.22590042087638793, + 1.1636141109792373 + ], + "finger_midpoint": [ + 0.1652246788391516, + 0.21424831827314875, + 1.1636141109792373 + ], + "object_minus_finger_midpoint": [ + 0.0043532074020150024, + 0.011652102603239178, + 0.0 + ], + "finger_gap": 0.024877452422735858, + "fingertip_max_gap": 0.0915237977748562, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012438726211367924, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636141109792373, + "object_top_z": 1.2138950453432222, + "finger_top_clearance": 0.05028093436398495, + "fingertip_min_top_clearance": 0.015084280309195485, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012438726211367924, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482618988874281, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0218183741600346, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.303887634569184, + -0.38863488206112673, + 0.8515395576355239 + ], + "target_position": [ + 0.3023490961989707, + -0.3872590436117677, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0020639844368001317, + "xy_threshold": 0.08, + "gripper_dist": 0.17945659795542673, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395576355239, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753659673945627, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08809092873114775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14748462920905092, + "release_required_pad_clearance": 0.05404546436557388, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.103085993535286, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 145, + "max_placed_release_frames": 145 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008617281913757324, + "max_z_decrease": 0.008617281913757324, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503883764437743, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008617281913757324, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020867625117437116, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008617281913757324, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008617462436444265, + "max_button_displacement": 0.12, + "button_start": [ + 0.1580490171909332, + -0.44352051615715027, + 0.7768088579177856 + ], + "button_final": [ + 0.1580490171909332, + -0.44352051615715027, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15895614585545773, + -0.4423901686824756, + 0.8031998807424112 + ], + "closest_button": [ + 0.15799897909164426, + -0.4434958696365356, + 0.7681915760040283 + ], + "closest_ee_minus_button": [ + 0.0009571667638134662, + 0.001105700954059985, + 0.0350083047383829 + ], + "button_min_z_position": [ + 0.15799897909164426, + -0.4434958696365356, + 0.7681915760040283 + ], + "min_active_finger_to_button": 0.14450682930504627, + "closest_active_finger": [ + 0.03239583224058151, + -0.5062094926834106, + 0.8104463219642639 + ], + "closest_active_finger_button": [ + 0.15804518759250638, + -0.4435213506221771, + 0.7763192057609558 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12564935535192487, + -0.06268814206123352, + 0.034127116203308105 + ], + "min_contact_pad_to_button": 0.020867625117437116, + "closest_contact_pad": [ + 0.15799897909164426, + -0.4434958696365356, + 0.7890592011214654 + ], + "closest_contact_pad_button": [ + 0.15799897909164426, + -0.4434958696365356, + 0.7681915760040283 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020867625117437116 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f159eea90124716bfd0a0f32423e61e97eb8b86062bdc561ac042add6cb9a239", + "visual_seed": 8411036488270965118, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84929e9ae16993d30782b94f89c0fddcdb8c8bfd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_90_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23949888898582228, + -0.048510677679646876, + 0.9983115189425344 + ], + "current_z": 0.9983115189425344, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.14172513074325843, + "gripper_z": 1.0011983433560971, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2350935739007167, + -0.05300684018071471, + 1.0011983433560971 + ], + "object_minus_gripper": [ + 0.004405315085105582, + 0.004496162501067831, + -0.002886824413562694 + ], + "object_to_gripper_xy": 0.006294622962105621, + "object_to_gripper_z": -0.002886824413562694, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23949888898582228, + -0.07235489633635792, + 0.9983115189425344 + ], + "finger_b": [ + 0.22827815667206258, + -0.048510677679646876, + 0.9983115189425344 + ], + "finger_midpoint": [ + 0.23388852282894243, + -0.06043278700800239, + 0.9983115189425344 + ], + "object_minus_finger_midpoint": [ + 0.005610366156879848, + 0.011922109328355517, + 0.0 + ], + "finger_gap": 0.02635244954470263, + "fingertip_max_gap": 0.09338948680715908, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013176224772351312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983115189425344, + "object_top_z": 1.0441348348447224, + "finger_top_clearance": 0.04582331590218791, + "fingertip_min_top_clearance": 0.01374699477065639, + "object_projection_between_fingers": 0.8186989068786812, + "object_to_finger_line_xy": 0.010152740993730218, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049194743403579544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.4481981867213056, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16302948314804638, + 0.23915590901836828, + 0.7611064484101212 + ], + "gripper_position": [ + 0.1664946278938122, + 0.20176778099239984, + 1.0167316405344502 + ], + "target_minus_gripper": [ + -0.0034651447457658135, + 0.03738812802596844, + -0.255625192124329 + ], + "held_position": [ + 0.17098472201715204, + 0.20606916729314173, + 1.0136812811912694 + ], + "held_minus_target": [ + 0.007955238869105652, + -0.03308674172522655, + 0.25257483278114823 + ], + "held_minus_gripper": [ + 0.004490094123339838, + 0.004301386300741894, + -0.003050359343180764 + ], + "xy_dist": 0.03754836008929439, + "held_xy_dist": 0.03402966798921754, + "held_gripper_dist": 0.006925861785163719, + "max_held_gripper_dist": 0.006934288624603367, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0136812811912694, + "required_height": 0.7911064484101212, + "gripper_z": 1.0167316405344502, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17275248379218, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.739807728758533, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9052745110143368, + "max_source_tilt_deg": 89.75356641349717, + "source_upright_tilt_deg": 2.318589714909601, + "max_source_upright_tilt_deg": 89.67623637690517, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9052745110143368, + "source_upright_return_tilt_deg": 2.318589714909601, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.163, + 0.2392, + 0.7611 + ], + "controller_target_position": [ + 0.163, + 0.2392, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.1627, + 0.214, + 1.0252 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0647, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003363501891449662, + 0.00022709747904670757, + -0.001246803162892527 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3185821287852906, + "source_return_step_error_deg": 1.9052672331154763, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3212970194569027, + "source_return_best_wrist_position": -1.6094368696212769, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6094368696212769 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.163, + 0.2392, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.163, + 0.2392, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1627, + 0.214, + 1.0252 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0647, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003363501891449662, + 0.00022709747904670757, + -0.001246803162892527 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3185821287852906, + "pour_controller_source_return_step_error_deg": 1.9052672331154763, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3212970194569027, + "pour_controller_source_return_best_wrist_position": -1.6094368696212769, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6094368696212769, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03754836008929439, + "valid_pour_held_xy_dist": 0.03402966798921754, + "valid_pour_held_gripper_dist": 0.006925861785163719, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0136812811912694, + "valid_pour_source_tilt_deg": 1.9052745110143368, + "valid_pour_source_upright_tilt_deg": 2.318589714909601, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.17098472201715204, + 0.18241101442540822, + 1.0136812811912694 + ], + "valid_pour_held_grasp_finger_b": [ + 0.16019357970477083, + 0.20606916729314173, + 1.0136812811912694 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16558915086096143, + 0.19424009085927496, + 1.0136812811912694 + ], + "valid_pour_held_grasp_object_position": [ + 0.17098472201715204, + 0.20606916729314173, + 1.0136812811912694 + ], + "valid_pour_held_grasp_finger_gap": 0.026003018084812993, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023907464426071372, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024898177245093876, + -0.9991813301849422, + 0.03188652034515027 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005700770726496486, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03351517252674579, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.17098472201715204, + 0.18241101442540822, + 1.0136812811912694 + ], + "held_grasp_finger_b": [ + 0.16019357970477083, + 0.20606916729314173, + 1.0136812811912694 + ], + "held_grasp_midpoint": [ + 0.16558915086096143, + 0.19424009085927496, + 1.0136812811912694 + ], + "held_grasp_object_position": [ + 0.17098472201715204, + 0.20606916729314173, + 1.0136812811912694 + ], + "held_grasp_finger_gap": 0.026003018084812993, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023907464426071372, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024898177245093876, + -0.9991813301849422, + 0.03188652034515027 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005700770726496486, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03351517252674579, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21350353049168783, + -0.04978769639450996, + 0.7565875164615843 + ], + "target_position": [ + 0.21749839436576146, + -0.05137924521052477, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004300228483015379, + "xy_threshold": 0.08, + "gripper_dist": 0.21178509779434973, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875164615843, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518486959157203, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569609082478684, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18417083251667712, + "release_required_pad_clearance": 0.05284804541239342, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.737007845251055, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1702277073130025, + 0.23463708537574868, + 1.1600955323256905 + ], + "current_z": 1.1600955323256905, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.29898908391556933, + "gripper_z": 1.153670497270813, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16702303333519553, + 0.23063888670564162, + 1.153670497270813 + ], + "object_minus_gripper": [ + 0.0032046739778069655, + 0.0039981986701070615, + 0.00642503505487757 + ], + "object_to_gripper_xy": 0.005124014823327407, + "object_to_gripper_z": 0.00642503505487757, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1702277073130025, + 0.21133363803681188, + 1.1600955323256905 + ], + "finger_b": [ + 0.16115996225142853, + 0.23463708537574868, + 1.1600955323256905 + ], + "finger_midpoint": [ + 0.1656938347822155, + 0.22298536170628028, + 1.1600955323256905 + ], + "object_minus_finger_midpoint": [ + 0.004533872530786992, + 0.0116517236694684, + 0.0 + ], + "finger_gap": 0.025005492564240752, + "fingertip_max_gap": 0.09095713594868313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012502746282120381, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1600955323256905, + "object_top_z": 1.2100011493343867, + "finger_top_clearance": 0.049905617008696224, + "fingertip_min_top_clearance": 0.014971685102608866, + "object_projection_between_fingers": 0.8684993875896228, + "object_to_finger_line_xy": 0.008450532177377602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047978567974341566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6372913018905481, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 364, + "max_stable_success_frames": 364, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3045267608575779, + -0.38284721596756077, + 0.8515396089187863 + ], + "target_position": [ + 0.29916650074132195, + -0.38340515234689854, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005389219008104313, + "xy_threshold": 0.08, + "gripper_dist": 0.18247619419355066, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396089187863, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583732576556364, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0853039166586007, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14982757850924636, + "release_required_pad_clearance": 0.05265195832930035, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36261644615699673, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008423566818237305, + "max_z_decrease": 0.008423566818237305, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506731469154966, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008423566818237305, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020904238846178955, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008423566818237305, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00842385796102282, + "max_button_displacement": 0.12, + "button_start": [ + 0.1548664271831512, + -0.43966659903526306, + 0.7768088579177856 + ], + "button_final": [ + 0.1548664271831512, + -0.43966659903526306, + 0.7768088579177856 + ], + "closest_ee": [ + 0.156633520873939, + -0.43980306193147856, + 0.8034042288719642 + ], + "closest_button": [ + 0.1547986268997192, + -0.43964904546737665, + 0.7683852910995483 + ], + "closest_ee_minus_button": [ + 0.0018348939742197923, + -0.00015401646410190262, + 0.035018937772415826 + ], + "button_min_z_position": [ + 0.1547986268997192, + -0.43964904546737665, + 0.7683852910995483 + ], + "min_active_finger_to_button": 0.1441011358048538, + "closest_active_finger": [ + 0.015663795173168182, + -0.42486372590065, + 0.8107609152793884 + ], + "closest_active_finger_button": [ + 0.15486170351505277, + -0.4396668672561645, + 0.7765564322471619 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13919790834188459, + 0.01480314135551447, + 0.03420448303222656 + ], + "min_contact_pad_to_button": 0.020904238846178955, + "closest_contact_pad": [ + 0.1547986268997192, + -0.4408725884233975, + 0.7892536917180162 + ], + "closest_contact_pad_button": [ + 0.1547986268997192, + -0.43964904546737665, + 0.7683852910995483 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00122354295602084, + 0.02086840061846784 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d02640798e13752a6fc289f30da23777e54241fecfc54a3faf6b6dccda313c90", + "visual_seed": 182868874265627768, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a57f2cae2763d877f8e7fb327d7030801bdc1020 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_91_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23072359780124235, + -0.052073696921216384, + 0.9968544955224417 + ], + "current_z": 0.9968544955224417, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14026798811387609, + "gripper_z": 0.9994859155735146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22630567860852183, + -0.056409423698702624, + 0.9994859155735146 + ], + "object_minus_gripper": [ + 0.004417919192720526, + 0.00433572677748624, + -0.0026314200510729746 + ], + "object_to_gripper_xy": 0.0061900352731159465, + "object_to_gripper_z": -0.0026314200510729746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23072359780124235, + -0.07622749065534858, + 0.9968544955224417 + ], + "finger_b": [ + 0.22012775549453112, + -0.052073696921216384, + 0.9968544955224417 + ], + "finger_midpoint": [ + 0.22542567664788674, + -0.06415059378828247, + 0.9968544955224417 + ], + "object_minus_finger_midpoint": [ + 0.005297921153355617, + 0.01207689686706609, + 0.0 + ], + "finger_gap": 0.026375701430287977, + "fingertip_max_gap": 0.0934245369996593, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187850715143981, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968544955224417, + "object_top_z": 1.042673268754333, + "finger_top_clearance": 0.04581877323189132, + "fingertip_min_top_clearance": 0.013745631969567379, + "object_projection_between_fingers": 0.8386150854901521, + "object_to_finger_line_xy": 0.009703241075583405, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04921226849982965, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.2417251943809817, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.16048339624065966, + 0.2326765414045759, + 0.7611063292008315 + ], + "gripper_position": [ + 0.16382846808541396, + 0.1948095291390386, + 1.0178180487190809 + ], + "target_minus_gripper": [ + -0.0033450718447542993, + 0.03786701226553729, + -0.25671171951824934 + ], + "held_position": [ + 0.16827038133995026, + 0.1990187958336907, + 1.0150231576895752 + ], + "held_minus_target": [ + 0.0077869850992906, + -0.03365774557088519, + 0.25391682848874364 + ], + "held_minus_gripper": [ + 0.0044419132545363005, + 0.004209266694652103, + -0.0027948910295056972 + ], + "xy_dist": 0.03801447255408024, + "held_xy_dist": 0.034546793973551516, + "held_gripper_dist": 0.0067275504705906234, + "max_held_gripper_dist": 0.006732129343694126, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.0150231576895752, + "required_height": 0.7911063292008316, + "gripper_z": 1.0178180487190809, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.16834701177753, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.8588926551643112, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.062708183326156, + "max_source_tilt_deg": 89.84592497731028, + "source_upright_tilt_deg": 2.792006261426521, + "max_source_upright_tilt_deg": 89.70306253155367, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.062708183326156, + "source_upright_return_tilt_deg": 2.792006261426521, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 2.0914776396182476e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1605, + 0.2327, + 0.7611 + ], + "controller_target_position": [ + 0.1605, + 0.2327, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0005, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.1615, + 0.2069, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0684, + 0.0655, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009973197104714542, + -0.0004918152554152164, + 0.0007169951976798688 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.792019661981833, + "source_return_step_error_deg": 2.0627115752559404, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.7977574564258254, + "source_return_best_wrist_position": -1.6089237928390503, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6089237928390503 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1605, + 0.2327, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1605, + 0.2327, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0005, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1615, + 0.2069, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0684, + 0.0655, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009973197104714542, + -0.0004918152554152164, + 0.0007169951976798688 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.792019661981833, + "pour_controller_source_return_step_error_deg": 2.0627115752559404, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.7977574564258254, + "pour_controller_source_return_best_wrist_position": -1.6089237928390503, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6089237928390503, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03801447255408024, + "valid_pour_held_xy_dist": 0.034546793973551516, + "valid_pour_held_gripper_dist": 0.0067275504705906234, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.0150231576895752, + "valid_pour_source_tilt_deg": 2.062708183326156, + "valid_pour_source_upright_tilt_deg": 2.792006261426521, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16827038133995026, + 0.17524551038818134, + 1.0150231576895752 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15779262387893614, + 0.1990187958336907, + 1.0150231576895752 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1630315026094432, + 0.187132153110936, + 1.0150231576895752 + ], + "valid_pour_held_grasp_object_position": [ + 0.16827038133995026, + 0.1990187958336907, + 1.0150231576895752 + ], + "valid_pour_held_grasp_finger_gap": 0.025979848003510414, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02410712274709539, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03455484921776374, + -0.998812952139733, + 0.03433145836473128 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005660994502073771, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033508720921468726, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16827038133995026, + 0.17524551038818134, + 1.0150231576895752 + ], + "held_grasp_finger_b": [ + 0.15779262387893614, + 0.1990187958336907, + 1.0150231576895752 + ], + "held_grasp_midpoint": [ + 0.1630315026094432, + 0.187132153110936, + 1.0150231576895752 + ], + "held_grasp_object_position": [ + 0.16827038133995026, + 0.1990187958336907, + 1.0150231576895752 + ], + "held_grasp_finger_gap": 0.025979848003510414, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02410712274709539, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03455484921776374, + -0.998812952139733, + 0.03433145836473128 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005660994502073771, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033508720921468726, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2107361783238626, + -0.05103357471649245, + 0.7565862855510057 + ], + "target_position": [ + 0.20915356525221065, + -0.05299381630291592, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0025193672244648298, + "xy_threshold": 0.08, + "gripper_dist": 0.21759862772022706, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862855510057, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07520761860374515, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851928482161048, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18969587042357328, + "release_required_pad_clearance": 0.0525964241080524, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.25640849257343734, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1674063857030897, + 0.22812993413164342, + 1.1613784373827316 + ], + "current_z": 1.1613784373827316, + "required_z": 0.8611062695961869, + "initial_z": 0.7611062695961869, + "lift_margin": 0.30027216778654475, + "gripper_z": 1.1550799809356602, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16442935091526067, + 0.22425758129526174, + 1.1550799809356602 + ], + "object_minus_gripper": [ + 0.0029770347878290138, + 0.0038723528363816817, + 0.006298456447071388 + ], + "object_to_gripper_xy": 0.00488445008341547, + "object_to_gripper_z": 0.006298456447071388, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1674063857030897, + 0.20474573658329578, + 1.1613784373827316 + ], + "finger_b": [ + 0.1588262175574678, + 0.22812993413164342, + 1.1613784373827316 + ], + "finger_midpoint": [ + 0.16311630163027874, + 0.2164378353574696, + 1.1613784373827316 + ], + "object_minus_finger_midpoint": [ + 0.004290084072810951, + 0.01169209877417382, + 0.0 + ], + "finger_gap": 0.024908632647885193, + "fingertip_max_gap": 0.09136368949464924, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012454316323942602, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1613784373827316, + "object_top_z": 1.2115223211860877, + "finger_top_clearance": 0.050143883803356104, + "fingertip_min_top_clearance": 0.01504316514100683, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012454316323942602, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04818184474732462, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.8635041585678258, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3119909683163471, + -0.3805887062780843, + 0.8515396169581336 + ], + "target_position": [ + 0.30680439794245623, + -0.3816374293921987, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005291534032149869, + "xy_threshold": 0.08, + "gripper_dist": 0.18330630426935277, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396169581336, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528541225705956, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631171359406985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15198554044030047, + "release_required_pad_clearance": 0.053155856797034925, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3364507571444777, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00862199068069458, + "max_z_decrease": 0.00862199068069458, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503878051117398, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00862199068069458, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020928069413110532, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00862199068069458, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008622983001698645, + "max_button_displacement": 0.12, + "button_start": [ + 0.16250433027744296, + -0.4378988742828369, + 0.7768088579177856 + ], + "button_final": [ + 0.16250433027744296, + -0.4378988742828369, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16390621314748866, + -0.4377596416987356, + 0.8035673794374965 + ], + "closest_button": [ + 0.1623894423246384, + -0.43786484003067017, + 0.768561601638794 + ], + "closest_ee_minus_button": [ + 0.0015167708228502608, + 0.00010519833193456396, + 0.03500577779870251 + ], + "button_min_z_position": [ + 0.16237835586071014, + -0.43786361813545227, + 0.7681868672370911 + ], + "min_active_finger_to_button": 0.14447625162518812, + "closest_active_finger": [ + 0.023156292736530304, + -0.42110270261764526, + 0.810505211353302 + ], + "closest_active_finger_button": [ + 0.16250433027744296, + -0.43790268898010254, + 0.7762521505355835 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13934803754091266, + 0.016799986362457275, + 0.034253060817718506 + ], + "min_contact_pad_to_button": 0.020928069413110532, + "closest_contact_pad": [ + 0.16237835586071014, + -0.4389737959183225, + 0.7890854699332139 + ], + "closest_contact_pad_button": [ + 0.16237835586071014, + -0.43786361813545227, + 0.7681868672370911 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001110177782870203, + 0.02089860269612287 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b859284ddafe63bb3c7a4d82e11ebb6c0853c27d41401ad56ae8d644eb173e7e", + "visual_seed": 183830587226866858, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_92_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_92_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f909985bd403dc0540b576dc48c4dd94558e867d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_92_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 92, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2392551485777789, + -0.05097097820918329, + 0.9976348906625261 + ], + "current_z": 0.9976348906625261, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.1410483832539604, + "gripper_z": 1.0005035798184518, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23489011202377144, + -0.0552676335381873, + 1.0005035798184518 + ], + "object_minus_gripper": [ + 0.004365036554007468, + 0.004296655329004008, + -0.002868689155925752 + ], + "object_to_gripper_xy": 0.006124931928934388, + "object_to_gripper_z": -0.002868689155925752, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2392551485777789, + -0.07515282471826287, + 0.9976348906625261 + ], + "finger_b": [ + 0.22875415603803004, + -0.05097097820918329, + 0.9976348906625261 + ], + "finger_midpoint": [ + 0.23400465230790446, + -0.06306190146372308, + 0.9976348906625261 + ], + "object_minus_finger_midpoint": [ + 0.0052504962698744495, + 0.012090923254539789, + 0.0 + ], + "finger_gap": 0.026363469895075382, + "fingertip_max_gap": 0.09280928597862523, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013181734947537693, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9976348906625261, + "object_top_z": 1.0434088195082478, + "finger_top_clearance": 0.045773928845721734, + "fingertip_min_top_clearance": 0.013732178653716504, + "object_projection_between_fingers": 0.8413443440488514, + "object_to_finger_line_xy": 0.009632016984100825, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048904642989312616, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8628280580911312, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 165, + "max_stable_success_frames": 165, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15454550702232922, + 0.23289771934017614, + 0.761106448410121 + ], + "gripper_position": [ + 0.15844588689088457, + 0.19509510019679088, + 1.0182280815291447 + ], + "target_minus_gripper": [ + -0.003900379868555348, + 0.03780261914338526, + -0.2571216331190237 + ], + "held_position": [ + 0.16276701383000164, + 0.19933731607740318, + 1.0152136050156106 + ], + "held_minus_target": [ + 0.008221506807672418, + -0.03356040326277296, + 0.25410715660548966 + ], + "held_minus_gripper": [ + 0.00432112693911707, + 0.004242215880612299, + -0.003014476513534037 + ], + "xy_dist": 0.03800330218834765, + "held_xy_dist": 0.03455276893895113, + "held_gripper_dist": 0.006764288746965993, + "max_held_gripper_dist": 0.006768540383662203, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106448410121, + "held_z": 1.0152136050156106, + "required_height": 0.791106448410121, + "gripper_z": 1.0182280815291447, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18472580540721, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.6243393108727737, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.905616287714868, + "max_source_tilt_deg": 89.91283263245482, + "source_upright_tilt_deg": 3.217175893384251, + "max_source_upright_tilt_deg": 89.9042979645047, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.905616287714868, + "source_upright_return_tilt_deg": 3.217175893384251, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.470348358154297e-08, + "max_target_xy_drift": 1.666000468656264e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1545, + 0.2329, + 0.7611 + ], + "controller_target_position": [ + 0.1545, + 0.2329, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0018, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.1538, + 0.2058, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0691, + 0.066, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007727093992724577, + -0.001837442170970506, + 0.0018285940696366977 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.2171778975401666, + "source_return_step_error_deg": 1.905612208812977, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.2199951391472363, + "source_return_best_wrist_position": -1.609907627105713, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609907627105713 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1545, + 0.2329, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1545, + 0.2329, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0018, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1538, + 0.2058, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0691, + 0.066, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007727093992724577, + -0.001837442170970506, + 0.0018285940696366977 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.2171778975401666, + "pour_controller_source_return_step_error_deg": 1.905612208812977, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.2199951391472363, + "pour_controller_source_return_best_wrist_position": -1.609907627105713, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609907627105713, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03800330218834765, + "valid_pour_held_xy_dist": 0.03455276893895113, + "valid_pour_held_gripper_dist": 0.006764288746965993, + "valid_pour_required_height": 0.791106448410121, + "valid_pour_held_z": 1.0152136050156106, + "valid_pour_source_tilt_deg": 1.905616287714868, + "valid_pour_source_upright_tilt_deg": 3.217175893384251, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.470348358154297e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16276701383000164, + 0.17586299133868624, + 1.0152136050156106 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15199187050213347, + 0.19933731607740318, + 1.0152136050156106 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15737944216606756, + 0.18760015370804473, + 1.0152136050156106 + ], + "valid_pour_held_grasp_object_position": [ + 0.16276701383000164, + 0.19933731607740318, + 1.0152136050156106 + ], + "valid_pour_held_grasp_finger_gap": 0.025829201220224366, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023930022395680834, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.045724991081970756, + -0.9984239940436364, + 0.032538489646980244 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005930668741127998, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03372790710054408, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16276701383000164, + 0.17586299133868624, + 1.0152136050156106 + ], + "held_grasp_finger_b": [ + 0.15199187050213347, + 0.19933731607740318, + 1.0152136050156106 + ], + "held_grasp_midpoint": [ + 0.15737944216606756, + 0.18760015370804473, + 1.0152136050156106 + ], + "held_grasp_object_position": [ + 0.16276701383000164, + 0.19933731607740318, + 1.0152136050156106 + ], + "held_grasp_finger_gap": 0.025829201220224366, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023930022395680834, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.045724991081970756, + -0.9984239940436364, + 0.032538489646980244 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005930668741127998, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03372790710054408, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21457654910138063, + -0.05347542222686021, + 0.756586362835437 + ], + "target_position": [ + 0.21672514168859694, + -0.05205830009265091, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0025738463919019717, + "xy_threshold": 0.08, + "gripper_dist": 0.2129967214290293, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586362835437, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586805434779674, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0888337360280972, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1834392815844108, + "release_required_pad_clearance": 0.0544168680140486, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.860122277540518, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16147934507619163, + 0.2301759414047418, + 1.1641543890241763 + ], + "current_z": 1.1641543890241763, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30304794061405527, + "gripper_z": 1.1579490761733275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15869048144156878, + 0.22630716551143765, + 1.1579490761733275 + ], + "object_minus_gripper": [ + 0.002788863634622857, + 0.003868775893304144, + 0.006205312850848799 + ], + "object_to_gripper_xy": 0.004769191470798073, + "object_to_gripper_z": 0.006205312850848799, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16147934507619163, + 0.20724902752333763, + 1.1641543890241763 + ], + "finger_b": [ + 0.15247126756152737, + 0.2301759414047418, + 1.1641543890241763 + ], + "finger_midpoint": [ + 0.1569753063188595, + 0.2187124844640397, + 1.1641543890241763 + ], + "object_minus_finger_midpoint": [ + 0.0045040387573321294, + 0.011463456940702083, + 0.0 + ], + "finger_gap": 0.024633084269646846, + "fingertip_max_gap": 0.09152523437425233, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012316542134823423, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641543890241763, + "object_top_z": 1.2143758234638176, + "finger_top_clearance": 0.05022143443964122, + "fingertip_min_top_clearance": 0.015066430331892366, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012316542134823423, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826261718712617, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9799389711146479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30670080947298184, + -0.37805179681698864, + 0.8515395994790494 + ], + "target_position": [ + 0.3009270821442539, + -0.3786107018167582, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005800715651130238, + "xy_threshold": 0.08, + "gripper_dist": 0.18210049235110462, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395994790494, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559034822714979, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08601091732777198, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14997219918620514, + "release_required_pad_clearance": 0.05300545866388599, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0437916005198988, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008517980575561523, + "max_z_decrease": 0.008517980575561523, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503082744590881, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008517980575561523, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020866747411155018, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008517980575561523, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008518200204436716, + "max_button_displacement": 0.12, + "button_start": [ + 0.15662701427936554, + -0.4348721504211426, + 0.7768088579177856 + ], + "button_final": [ + 0.15662701427936554, + -0.4348721504211426, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15668679098718127, + -0.433419638734592, + 0.8032920185645104 + ], + "closest_button": [ + 0.15656785666942594, + -0.4348565936088562, + 0.7682908773422241 + ], + "closest_ee_minus_button": [ + 0.00011893431775533703, + 0.0014369548742642069, + 0.03500114122228626 + ], + "button_min_z_position": [ + 0.15656785666942594, + -0.4348565936088562, + 0.7682908773422241 + ], + "min_active_finger_to_button": 0.1450861750796794, + "closest_active_finger": [ + 0.030563272535800934, + -0.4980786144733429, + 0.8109331130981445 + ], + "closest_active_finger_button": [ + 0.15661980211734766, + -0.4348725378513337, + 0.7768048048019409 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12605652958154673, + -0.06320607662200922, + 0.03412830829620361 + ], + "min_contact_pad_to_button": 0.020866747411155018, + "closest_contact_pad": [ + 0.15656785666942594, + -0.4348565936088562, + 0.7891576247533791 + ], + "closest_contact_pad_button": [ + 0.15656785666942594, + -0.4348565936088562, + 0.7682908773422241 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020866747411155018 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 92, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ed13342897210f866c3dd0e30db574ee294dca87af85cb2a4febca44116abb7c", + "visual_seed": 1549648469731557404, + "episode_index": 92, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_93_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_93_success.json new file mode 100644 index 0000000000000000000000000000000000000000..042796b21d1cb46322998bfb136be727c0ef907d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_93_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 93, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2389341314499681, + -0.0532450707153798, + 0.9987969491222829 + ], + "current_z": 0.9987969491222829, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.14221044171371755, + "gripper_z": 1.0015112941522943, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.23417881919222197, + -0.05783554462814369, + 1.0015112941522943 + ], + "object_minus_gripper": [ + 0.0047553122577461415, + 0.00459047391276389, + -0.0027143450300114447 + ], + "object_to_gripper_xy": 0.006609496608096302, + "object_to_gripper_z": -0.0027143450300114447, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2389341314499681, + -0.07749952068629404, + 0.9987969491222829 + ], + "finger_b": [ + 0.22777138871525598, + -0.0532450707153798, + 0.9987969491222829 + ], + "finger_midpoint": [ + 0.23335276008261205, + -0.06537229570083691, + 0.9987969491222829 + ], + "object_minus_finger_midpoint": [ + 0.005581371367356064, + 0.01212722498545711, + 0.0 + ], + "finger_gap": 0.026699909527055515, + "fingertip_max_gap": 0.09245103138789884, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013349954763527752, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9987969491222829, + "object_top_z": 1.0445647129484754, + "finger_top_clearance": 0.04576776382619252, + "fingertip_min_top_clearance": 0.013730329147857755, + "object_projection_between_fingers": 0.8252077181247254, + "object_to_finger_line_xy": 0.010140340922238316, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04872551569394942, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.57283570773948, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15457821507114977, + 0.2301476504372068, + 0.7611066272240556 + ], + "gripper_position": [ + 0.1590465002745378, + 0.19309471561017838, + 1.018241843384345 + ], + "target_minus_gripper": [ + -0.004468285203388017, + 0.03705293482702843, + -0.25713521616028934 + ], + "held_position": [ + 0.1637817626366421, + 0.19760892727335672, + 1.015365456965365 + ], + "held_minus_target": [ + 0.009203547565492326, + -0.03253872316385009, + 0.2542588297413093 + ], + "held_minus_gripper": [ + 0.004735262362104309, + 0.004514211663178336, + -0.002876386418980026 + ], + "xy_dist": 0.03732138196737672, + "held_xy_dist": 0.03381528933668843, + "held_gripper_dist": 0.007146636650147377, + "max_held_gripper_dist": 0.007159167618915297, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240556, + "held_z": 1.015365456965365, + "required_height": 0.7911066272240557, + "gripper_z": 1.018241843384345, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17928214463872, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7117252469031445, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8640537678191047, + "max_source_tilt_deg": 89.9220451630428, + "source_upright_tilt_deg": 2.6601480386766276, + "max_source_upright_tilt_deg": 89.95566226990537, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8640537678191047, + "source_upright_return_tilt_deg": 2.6601480386766276, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 4.2146848510894035e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1546, + 0.2301, + 0.7611 + ], + "controller_target_position": [ + 0.1546, + 0.2301, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0005, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.1553, + 0.2043, + 1.0279 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0653, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007405324116906632, + -0.000503531139263608, + 0.001517039878602767 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.660142981553498, + "source_return_step_error_deg": 1.8640470434214296, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6645383251718617, + "source_return_best_wrist_position": -1.6091322898864746, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6091322898864746 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1546, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1546, + 0.2301, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0005, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1553, + 0.2043, + 1.0279 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0653, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007405324116906632, + -0.000503531139263608, + 0.001517039878602767 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.660142981553498, + "pour_controller_source_return_step_error_deg": 1.8640470434214296, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6645383251718617, + "pour_controller_source_return_best_wrist_position": -1.6091322898864746, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6091322898864746, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03732138196737672, + "valid_pour_held_xy_dist": 0.03381528933668843, + "valid_pour_held_gripper_dist": 0.007146636650147377, + "valid_pour_required_height": 0.7911066272240557, + "valid_pour_held_z": 1.015365456965365, + "valid_pour_source_tilt_deg": 1.8640537678191047, + "valid_pour_source_upright_tilt_deg": 2.6601480386766276, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.1637817626366421, + 0.17391700024758874, + 1.015365456965365 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15249785856031645, + 0.19760892727335672, + 1.015365456965365 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15813981059847926, + 0.18576296376047274, + 1.015365456965365 + ], + "valid_pour_held_grasp_object_position": [ + 0.1637817626366421, + 0.19760892727335672, + 1.015365456965365 + ], + "valid_pour_held_grasp_finger_gap": 0.0262418348710229, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024043683628311125, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.033435844702960286, + -0.998922406701312, + 0.03218803627216438 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006046719306385396, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355567001599434, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.1637817626366421, + 0.17391700024758874, + 1.015365456965365 + ], + "held_grasp_finger_b": [ + 0.15249785856031645, + 0.19760892727335672, + 1.015365456965365 + ], + "held_grasp_midpoint": [ + 0.15813981059847926, + 0.18576296376047274, + 1.015365456965365 + ], + "held_grasp_object_position": [ + 0.1637817626366421, + 0.19760892727335672, + 1.015365456965365 + ], + "held_grasp_finger_gap": 0.0262418348710229, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024043683628311125, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.033435844702960286, + -0.998922406701312, + 0.03218803627216438 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006046719306385396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355567001599434, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21620344451256288, + -0.06056814062983499, + 0.7565866753006902 + ], + "target_position": [ + 0.2164348697650972, + -0.05444423147237906, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00612828042898521, + "xy_threshold": 0.08, + "gripper_dist": 0.21666173809462544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866753006902, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538464952838311, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534858309957367, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18683668862929112, + "release_required_pad_clearance": 0.05267429154978684, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4054175570390091, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 224, + "max_placed_release_frames": 224 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1618811204776024, + 0.22685419418613448, + 1.1627013750873747 + ], + "current_z": 1.1627013750873747, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30159480746796397, + "gripper_z": 1.1567091660514395, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1589115154998889, + 0.2227260914092011, + 1.1567091660514395 + ], + "object_minus_gripper": [ + 0.0029696049777134803, + 0.004128102776933373, + 0.005992209035935225 + ], + "object_to_gripper_xy": 0.005085251838462448, + "object_to_gripper_z": 0.005992209035935225, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1618811204776024, + 0.20385806040809465, + 1.1627013750873747 + ], + "finger_b": [ + 0.1523948786837506, + 0.22685419418613448, + 1.1627013750873747 + ], + "finger_midpoint": [ + 0.15713799958067648, + 0.21535612729711456, + 1.1627013750873747 + ], + "object_minus_finger_midpoint": [ + 0.004743120896925912, + 0.011498066889019914, + 0.0 + ], + "finger_gap": 0.024875911080982038, + "fingertip_max_gap": 0.09194076760645084, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012437955540491024, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627013750873747, + "object_top_z": 1.213127637742753, + "finger_top_clearance": 0.050426262655378196, + "fingertip_min_top_clearance": 0.015127878796613425, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012437955540491024, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04847038380322542, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2584504821960532, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.31261133567456445, + -0.3830498337791325, + 0.8515395715397134 + ], + "target_position": [ + 0.30683128400424214, + -0.38383170759796326, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005832694401403924, + "xy_threshold": 0.08, + "gripper_dist": 0.1831147881248162, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395715397134, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532671504200927, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647139501554484, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15172205979253542, + "release_required_pad_clearance": 0.05323569750777242, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4924960749255258, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008692026138305664, + "max_z_decrease": 0.008692026138305664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502626402967607, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008692026138305664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021013683379087204, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008692026138305664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008693110521246767, + "max_button_displacement": 0.12, + "button_start": [ + 0.16253121197223663, + -0.44009315967559814, + 0.7768088579177856 + ], + "button_final": [ + 0.16253121197223663, + -0.44009315967559814, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1630712489365667, + -0.4414730082662076, + 0.803876855433575 + ], + "closest_button": [ + 0.16242337226867676, + -0.4400680363178253, + 0.7688847780227661 + ], + "closest_ee_minus_button": [ + 0.0006478766678899295, + -0.0014049719483822942, + 0.0349920774108089 + ], + "button_min_z_position": [ + 0.16240088641643524, + -0.440049946308136, + 0.76811683177948 + ], + "min_active_finger_to_button": 0.14515565850553, + "closest_active_finger": [ + 0.022040627896785736, + -0.42729806900024414, + 0.8104646801948547 + ], + "closest_active_finger_button": [ + 0.16252620518207547, + -0.4400944709777832, + 0.7762562036514282 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14048557728528974, + 0.012796401977539062, + 0.034208476543426514 + ], + "min_contact_pad_to_button": 0.021013683379087204, + "closest_contact_pad": [ + 0.16240088641643524, + -0.4424515303171114, + 0.7889928295617264 + ], + "closest_contact_pad_button": [ + 0.16240088641643524, + -0.440049946308136, + 0.76811683177948 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002401584008975388, + 0.02087599778224647 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 93, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e80c61128682418fd57e2a92f8fa22aeb2cba59dd69b29f9a4d09e967c89b23", + "visual_seed": 5170267553982822913, + "episode_index": 93, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_94_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_94_success.json new file mode 100644 index 0000000000000000000000000000000000000000..70f2e2e59cd1edd2913d3eabe891a64a0cd9e7ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_94_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 94, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23304436362521555, + -0.05503554857069051, + 0.9979149827916611 + ], + "current_z": 0.9979149827916611, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14132847538309556, + "gripper_z": 1.0006990172406796, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22886018165277278, + -0.05938371491350598, + 1.0006990172406796 + ], + "object_minus_gripper": [ + 0.004184181972442774, + 0.004348166342815471, + -0.0027840344490184243 + ], + "object_to_gripper_xy": 0.0060343955226110566, + "object_to_gripper_z": -0.0027840344490184243, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23304436362521555, + -0.07879576796262766, + 0.9979149827916611 + ], + "finger_b": [ + 0.22213350686749878, + -0.05503554857069051, + 0.9979149827916611 + ], + "finger_midpoint": [ + 0.22758893524635715, + -0.06691565826665909, + 0.9979149827916611 + ], + "object_minus_finger_midpoint": [ + 0.005455428378858401, + 0.011880109695968574, + 0.0 + ], + "finger_gap": 0.02614564630565479, + "fingertip_max_gap": 0.09294101177293848, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0130728231528274, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9979149827916611, + "object_top_z": 1.0438701498490797, + "finger_top_clearance": 0.04595516705741853, + "fingertip_min_top_clearance": 0.013786550117225559, + "object_projection_between_fingers": 0.8258518181011458, + "object_to_finger_line_xy": 0.009915392692407115, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04897050588646924, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8731898592406955, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15785617251057238, + 0.23203717728123147, + 0.7611065080147662 + ], + "gripper_position": [ + 0.16099016616382247, + 0.19444422345995294, + 1.0176382818753835 + ], + "target_minus_gripper": [ + -0.0031339936532500945, + 0.03759295382127853, + -0.2565317738606173 + ], + "held_position": [ + 0.16525480479960575, + 0.19860912732938985, + 1.0146968976311155 + ], + "held_minus_target": [ + 0.007398632289033369, + -0.03342804995184162, + 0.2535903896163493 + ], + "held_minus_gripper": [ + 0.004264638635783274, + 0.004164903869436909, + -0.0029413842442680416 + ], + "xy_dist": 0.0377233626977685, + "held_xy_dist": 0.034237030877854256, + "held_gripper_dist": 0.006647203036457833, + "max_held_gripper_dist": 0.006651722129843857, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147662, + "held_z": 1.0146968976311155, + "required_height": 0.7911065080147662, + "gripper_z": 1.0176382818753835, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17680961615918, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.320549787669945, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9383705385148797, + "max_source_tilt_deg": 89.8632281041357, + "source_upright_tilt_deg": 1.8744068061219559, + "max_source_upright_tilt_deg": 89.94089181208687, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9383705385148797, + "source_upright_return_tilt_deg": 1.8744068061219559, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.55572690202453e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1579, + 0.232, + 0.7611 + ], + "controller_target_position": [ + 0.1579, + 0.232, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0002, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.1579, + 0.2064, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0638, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.9016551103469915e-05, + -0.00024570828876432395, + 0.00017439744024450813 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 1.8744207457668343, + "source_return_step_error_deg": 1.9383556009056049, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 1.9345524026864918, + "source_return_best_wrist_position": -1.609479308128357, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.609479308128357 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1579, + 0.232, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1579, + 0.232, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0002, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1579, + 0.2064, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0638, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.9016551103469915e-05, + -0.00024570828876432395, + 0.00017439744024450813 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 1.8744207457668343, + "pour_controller_source_return_step_error_deg": 1.9383556009056049, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 1.9345524026864918, + "pour_controller_source_return_best_wrist_position": -1.609479308128357, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.609479308128357, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0377233626977685, + "valid_pour_held_xy_dist": 0.034237030877854256, + "valid_pour_held_gripper_dist": 0.006647203036457833, + "valid_pour_required_height": 0.7911065080147662, + "valid_pour_held_z": 1.0146968976311155, + "valid_pour_source_tilt_deg": 1.9383705385148797, + "valid_pour_source_upright_tilt_deg": 1.8744068061219559, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16525480479960575, + 0.17502253262144293, + 1.0146968976311155 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15478024062852636, + 0.19860912732938985, + 1.0146968976311155 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16001752271406605, + 0.1868158299754164, + 1.0146968976311155 + ], + "valid_pour_held_grasp_object_position": [ + 0.16525480479960575, + 0.19860912732938985, + 1.0146968976311155 + ], + "valid_pour_held_grasp_finger_gap": 0.025807827194303076, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023719951777776953, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013936374931431076, + -0.9994649340501364, + 0.029590928642525653 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005412321754959378, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03348622653045379, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16525480479960575, + 0.17502253262144293, + 1.0146968976311155 + ], + "held_grasp_finger_b": [ + 0.15478024062852636, + 0.19860912732938985, + 1.0146968976311155 + ], + "held_grasp_midpoint": [ + 0.16001752271406605, + 0.1868158299754164, + 1.0146968976311155 + ], + "held_grasp_object_position": [ + 0.16525480479960575, + 0.19860912732938985, + 1.0146968976311155 + ], + "held_grasp_finger_gap": 0.025807827194303076, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023719951777776953, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013936374931431076, + -0.9994649340501364, + 0.029590928642525653 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005412321754959378, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03348622653045379, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2136596926758196, + -0.05675001823145437, + 0.756586342924279 + ], + "target_position": [ + 0.21214706373044281, + -0.05450541941994417, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002706708360910852, + "xy_threshold": 0.08, + "gripper_dist": 0.21443351948207529, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586342924279, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523185941349907, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08644072637868054, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1855216999948823, + "release_required_pad_clearance": 0.05322036318934027, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4622982911089675, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 226, + "max_placed_release_frames": 226 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16484884663936938, + 0.2293905586988421, + 1.162964534464106 + ], + "current_z": 1.162964534464106, + "required_z": 0.8611065080147662, + "initial_z": 0.7611065080147662, + "lift_margin": 0.3018580264493398, + "gripper_z": 1.1567117332263417, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1620361173410966, + 0.22544807446159076, + 1.1567117332263417 + ], + "object_minus_gripper": [ + 0.0028127292982727814, + 0.003942484237251326, + 0.006252801237764283 + ], + "object_to_gripper_xy": 0.004842997838770658, + "object_to_gripper_z": 0.006252801237764283, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16484884663936938, + 0.20650513293291642, + 1.162964534464106 + ], + "finger_b": [ + 0.1556536883282574, + 0.2293905586988421, + 1.162964534464106 + ], + "finger_midpoint": [ + 0.1602512674838134, + 0.21794784581587925, + 1.162964534464106 + ], + "object_minus_finger_midpoint": [ + 0.004597579155555975, + 0.011442712882962836, + 0.0 + ], + "finger_gap": 0.024663609809881974, + "fingertip_max_gap": 0.09123979770308416, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012331804904940982, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162964534464106, + "object_top_z": 1.2131058937507042, + "finger_top_clearance": 0.05014135928659824, + "fingertip_min_top_clearance": 0.015042407785979438, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012331804904940982, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04811989885154208, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6971070477158846, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3064007892647712, + -0.3859153447205961, + 0.8515395893926604 + ], + "target_position": [ + 0.3010197101269094, + -0.38641741745664365, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0054044509175506135, + "xy_threshold": 0.08, + "gripper_dist": 0.18144947607225848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395893926604, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535404761581743, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08731212318351149, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14988611345868283, + "release_required_pad_clearance": 0.053656061591755747, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3219169331513987, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008577167987823486, + "max_z_decrease": 0.008577167987823486, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503365275797028, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008577167987823486, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020884493704196202, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008577167987823486, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008577273722355984, + "max_button_displacement": 0.12, + "button_start": [ + 0.15671963989734644, + -0.4426788687705993, + 0.7768088579177856 + ], + "button_final": [ + 0.15671963989734644, + -0.4426788687705993, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15782947745726927, + -0.44226894041286746, + 0.8032446078127958 + ], + "closest_button": [ + 0.15668675303459165, + -0.4426518082618713, + 0.7682316899299622 + ], + "closest_ee_minus_button": [ + 0.0011427244226776267, + 0.00038286784900382065, + 0.03501291788283367 + ], + "button_min_z_position": [ + 0.15668675303459165, + -0.4426518082618713, + 0.7682316899299622 + ], + "min_active_finger_to_button": 0.14462838844533812, + "closest_active_finger": [ + 0.031226344406604767, + -0.5059680938720703, + 0.8104954957962036 + ], + "closest_active_finger_button": [ + 0.15671499073505396, + -0.44268009066581715, + 0.7763692736625671 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1254886463284492, + -0.06328800320625316, + 0.034126222133636475 + ], + "min_contact_pad_to_button": 0.020884493704196202, + "closest_contact_pad": [ + 0.15668675303459165, + -0.4433724391939352, + 0.7891037470480414 + ], + "closest_contact_pad_button": [ + 0.15668675303459165, + -0.4426518082618713, + 0.7682316899299622 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007206309320639259, + 0.020872057118079268 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 94, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "68c284db80431152cce4224af42c9c330716bb6f8b8f58367c398edb78f40764", + "visual_seed": 6160283056863722337, + "episode_index": 94, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_95_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_95_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d3bd0ec3834526d52b75476bd9ccd75146d0aef4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_95_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 95, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23252142694487837, + -0.05100773521305443, + 0.9959387192214206 + ], + "current_z": 0.9959387192214206, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1393521522082103, + "gripper_z": 0.9985368043461341, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22818551918223343, + -0.055549585065563095, + 0.9985368043461341 + ], + "object_minus_gripper": [ + 0.004335907762644947, + 0.004541849852508668, + -0.0025980851247134895 + ], + "object_to_gripper_xy": 0.006279211432090635, + "object_to_gripper_z": -0.0025980851247134895, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23252142694487837, + -0.07471352579795819, + 0.9959387192214206 + ], + "finger_b": [ + 0.22112294073362804, + -0.05100773521305443, + 0.9959387192214206 + ], + "finger_midpoint": [ + 0.2268221838392532, + -0.0628606305055063, + 0.9959387192214206 + ], + "object_minus_finger_midpoint": [ + 0.005699243105625168, + 0.011852895292451877, + 0.0 + ], + "finger_gap": 0.02630380191461637, + "fingertip_max_gap": 0.09327548923907902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013151900957308182, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959387192214206, + "object_top_z": 1.0417209055015506, + "finger_top_clearance": 0.04578218628012998, + "fingertip_min_top_clearance": 0.013734655884039009, + "object_projection_between_fingers": 0.812216553474827, + "object_to_finger_line_xy": 0.01027266430860188, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049137744619539514, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.5803430365453366, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.1601350219931087, + 0.23878300745949219, + 0.7611063888054767 + ], + "gripper_position": [ + 0.1635767291150969, + 0.20111871029191897, + 1.0179417431562094 + ], + "target_minus_gripper": [ + -0.0034417071219882134, + 0.03766429716757322, + -0.2568353543507328 + ], + "held_position": [ + 0.16800163237243837, + 0.20547677066091088, + 1.0151822764990557 + ], + "held_minus_target": [ + 0.007866610379329675, + -0.0333062367985813, + 0.25407588769357903 + ], + "held_minus_gripper": [ + 0.0044249032573414615, + 0.004358060368991917, + -0.002759466657153764 + ], + "xy_dist": 0.03782121929606194, + "held_xy_dist": 0.03422263824639107, + "held_gripper_dist": 0.006796110302853568, + "max_held_gripper_dist": 0.006801306307813989, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0151822764990557, + "required_height": 0.7911063888054767, + "gripper_z": 1.0179417431562094, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17612659724217, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3759442649176252, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.8873767738071665, + "max_source_tilt_deg": 89.90896939939017, + "source_upright_tilt_deg": 2.3118926551242938, + "max_source_upright_tilt_deg": 89.91015634782487, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.8873767738071665, + "source_upright_return_tilt_deg": 2.3118926551242938, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0536712127723508e-07, + "max_target_xy_drift": 1.4136482746161726e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1601, + 0.2388, + 0.7611 + ], + "controller_target_position": [ + 0.1601, + 0.2388, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0007, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.1614, + 0.2127, + 1.0279 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0647, + 0.093 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012259288952469658, + -0.0006636548654834575, + 0.0012896742420230411 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.311882797325764, + "source_return_step_error_deg": 1.8873214811740753, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3128855663202375, + "source_return_best_wrist_position": -1.60968816280365, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.60968816280365 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1601, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1601, + 0.2388, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0007, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1614, + 0.2127, + 1.0279 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0647, + 0.093 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012259288952469658, + -0.0006636548654834575, + 0.0012896742420230411 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.311882797325764, + "pour_controller_source_return_step_error_deg": 1.8873214811740753, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3128855663202375, + "pour_controller_source_return_best_wrist_position": -1.60968816280365, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.60968816280365, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03782121929606194, + "valid_pour_held_xy_dist": 0.03422263824639107, + "valid_pour_held_gripper_dist": 0.006796110302853568, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0151822764990557, + "valid_pour_source_tilt_deg": 1.8873767738071665, + "valid_pour_source_upright_tilt_deg": 2.3118926551242938, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0536712127723508e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16800163237243837, + 0.18193100176591606, + 1.0151822764990557 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1570563322353469, + 0.20547677066091088, + 1.0151822764990557 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16252898230389262, + 0.19370388621341347, + 1.0151822764990557 + ], + "valid_pour_held_grasp_object_position": [ + 0.16800163237243837, + 0.20547677066091088, + 1.0151822764990557 + ], + "valid_pour_held_grasp_finger_gap": 0.025965415997967763, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023815374179194704, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02638304282570962, + -0.9991860517215336, + 0.030515063434138456 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005792363950970302, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358130819847055, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16800163237243837, + 0.18193100176591606, + 1.0151822764990557 + ], + "held_grasp_finger_b": [ + 0.1570563322353469, + 0.20547677066091088, + 1.0151822764990557 + ], + "held_grasp_midpoint": [ + 0.16252898230389262, + 0.19370388621341347, + 1.0151822764990557 + ], + "held_grasp_object_position": [ + 0.16800163237243837, + 0.20547677066091088, + 1.0151822764990557 + ], + "held_grasp_finger_gap": 0.025965415997967763, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023815374179194704, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02638304282570962, + -0.9991860517215336, + 0.030515063434138456 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005792363950970302, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358130819847055, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21188677565515965, + -0.054118687888983934, + 0.7565891101814152 + ], + "target_position": [ + 0.21159065593636595, + -0.0531086194820468, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.001052580198631429, + "xy_threshold": 0.08, + "gripper_dist": 0.21499724870106002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565891101814152, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532238109615014, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09511425627397811, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18613983241854642, + "release_required_pad_clearance": 0.05755712813698906, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 10.849899231265232, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 232, + "max_placed_release_frames": 232 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16691771729237706, + 0.23549840539085193, + 1.1617198969648945 + ], + "current_z": 1.1617198969648945, + "required_z": 0.8611063888054766, + "initial_z": 0.7611063888054767, + "lift_margin": 0.3006135081594179, + "gripper_z": 1.1553060112219666, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16410572338668192, + 0.23164739094019832, + 1.1553060112219666 + ], + "object_minus_gripper": [ + 0.0028119939056951426, + 0.0038510144506536115, + 0.006413885742927894 + ], + "object_to_gripper_xy": 0.004768398266169633, + "object_to_gripper_z": 0.006413885742927894, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16691771729237706, + 0.21226691306325784, + 1.1617198969648945 + ], + "finger_b": [ + 0.1583120367767185, + 0.23549840539085193, + 1.1617198969648945 + ], + "finger_midpoint": [ + 0.1626148770345478, + 0.2238826592270549, + 1.1617198969648945 + ], + "object_minus_finger_midpoint": [ + 0.00430284025782926, + 0.011615746163797042, + 0.0 + ], + "finger_gap": 0.024774179560676634, + "fingertip_max_gap": 0.09187686138266268, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012387089780338312, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1617198969648945, + "object_top_z": 1.21193900748522, + "finger_top_clearance": 0.05021911052032557, + "fingertip_min_top_clearance": 0.01506573315609767, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012387089780338312, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048438430691331344, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3045581246153806, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3025749309831536, + -0.387561626929997, + 0.8515395910170246 + ], + "target_position": [ + 0.2976894000554098, + -0.3874124825226488, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004887806921328257, + "xy_threshold": 0.08, + "gripper_dist": 0.18138569132158858, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395910170246, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569103800938343, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08511419630442078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14894537483503573, + "release_required_pad_clearance": 0.052557098152210394, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1813081579862933, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00843900442123413, + "max_z_decrease": 0.00843900442123413, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035040983964400765, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00843900442123413, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02104521481119457, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00843900442123413, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008439118447570703, + "max_button_displacement": 0.12, + "button_start": [ + 0.15338931977748865, + -0.44367393851280207, + 0.7768088579177856 + ], + "button_final": [ + 0.15338931977748865, + -0.44367393851280207, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15239264557372773, + -0.4454765947191131, + 0.8037129439784174 + ], + "closest_button": [ + 0.15332493185997004, + -0.44366279244422907, + 0.7687313556671143 + ], + "closest_ee_minus_button": [ + -0.000932286286242312, + -0.0018138022748840354, + 0.03498158831130316 + ], + "button_min_z_position": [ + 0.1533521711826324, + -0.44365060329437256, + 0.7683698534965515 + ], + "min_active_finger_to_button": 0.14657626517022673, + "closest_active_finger": [ + 0.011550843715667725, + -0.42955806851387024, + 0.8107426166534424 + ], + "closest_active_finger_button": [ + 0.1533814519643783, + -0.44367572665214533, + 0.7765465378761292 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14183060824871058, + 0.014117658138275091, + 0.03419607877731323 + ], + "min_contact_pad_to_button": 0.02104521481119457, + "closest_contact_pad": [ + 0.1533521711826324, + -0.44662949585050477, + 0.7892031745373348 + ], + "closest_contact_pad_button": [ + 0.1533521711826324, + -0.44365060329437256, + 0.7683698534965515 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0029788925561322066, + 0.02083332104078328 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 95, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f8bb1156ff27e9a46e7cd70ec4c7f955ef7c4f736ddad2e1c904bbd5af37b949", + "visual_seed": 1688507237218030690, + "episode_index": 95, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_96_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_96_success.json new file mode 100644 index 0000000000000000000000000000000000000000..82a58b12dc4f4bd8e0dbacbbf574bb42c5088118 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_96_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 96, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2338737117542174, + -0.055724415984444414, + 0.996515862890628 + ], + "current_z": 0.996515862890628, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13992935548206242, + "gripper_z": 0.9994268310562882, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22961462238459657, + -0.06017970520363801, + 0.9994268310562882 + ], + "object_minus_gripper": [ + 0.004259089369620828, + 0.004455289219193595, + -0.002910968165660166 + ], + "object_to_gripper_xy": 0.006163557761965066, + "object_to_gripper_z": -0.002910968165660166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2338737117542174, + -0.07939704149533067, + 0.996515862890628 + ], + "finger_b": [ + 0.222616228498642, + -0.055724415984444414, + 0.996515862890628 + ], + "finger_midpoint": [ + 0.2282449701264297, + -0.06756072873988754, + 0.996515862890628 + ], + "object_minus_finger_midpoint": [ + 0.005628741627787703, + 0.011836312755443126, + 0.0 + ], + "finger_gap": 0.026213052623229965, + "fingertip_max_gap": 0.09337594584386474, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106526311614982, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996515862890628, + "object_top_z": 1.0422540938153255, + "finger_top_clearance": 0.04573823092469753, + "fingertip_min_top_clearance": 0.013721469277409259, + "object_projection_between_fingers": 0.81556326707648, + "object_to_finger_line_xy": 0.010166468939529086, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.049187972921932374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.6218533995006696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15819673854965777, + 0.2351594026850171, + 0.7611065676194108 + ], + "gripper_position": [ + 0.16142987577377466, + 0.19657553034150427, + 1.0165525374387956 + ], + "target_minus_gripper": [ + -0.0032331372241168888, + 0.03858387234351282, + -0.25544596981938483 + ], + "held_position": [ + 0.16580471024247145, + 0.20080823042824808, + 1.013484499334851 + ], + "held_minus_target": [ + 0.0076079716928136865, + -0.03435117225676901, + 0.2523779317154403 + ], + "held_minus_gripper": [ + 0.004374834468696798, + 0.0042327000867438125, + -0.003068038103944515 + ], + "xy_dist": 0.03871909582273925, + "held_xy_dist": 0.03518357953211798, + "held_gripper_dist": 0.006816728281226568, + "max_held_gripper_dist": 0.006820977502247673, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194108, + "held_z": 1.013484499334851, + "required_height": 0.7911065676194108, + "gripper_z": 1.0165525374387956, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18066867304023, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.571554480560563, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9113374212763077, + "max_source_tilt_deg": 89.92241881966982, + "source_upright_tilt_deg": 2.2033041286279555, + "max_source_upright_tilt_deg": 89.74544593870054, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9113374212763077, + "source_upright_return_tilt_deg": 2.2033041286279555, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.4136482746161726e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1582, + 0.2352, + 0.7611 + ], + "controller_target_position": [ + 0.1582, + 0.2352, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0011, + -0.0009 + ], + "controller_last_pour_pose_position": [ + 0.158, + 0.2086, + 1.0256 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0673, + 0.0645, + 0.0931 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00017378076391659828, + -0.0011242905436410155, + -0.0008807363325963476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.203305838751475, + "source_return_step_error_deg": 1.911339557289162, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2024092445814807, + "source_return_best_wrist_position": -1.6096693277359009, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6096693277359009 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1582, + 0.2352, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1582, + 0.2352, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0011, + -0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.158, + 0.2086, + 1.0256 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0673, + 0.0645, + 0.0931 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00017378076391659828, + -0.0011242905436410155, + -0.0008807363325963476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.203305838751475, + "pour_controller_source_return_step_error_deg": 1.911339557289162, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2024092445814807, + "pour_controller_source_return_best_wrist_position": -1.6096693277359009, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6096693277359009, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03871909582273925, + "valid_pour_held_xy_dist": 0.03518357953211798, + "valid_pour_held_gripper_dist": 0.006816728281226568, + "valid_pour_required_height": 0.7911065676194108, + "valid_pour_held_z": 1.013484499334851, + "valid_pour_source_tilt_deg": 1.9113374212763077, + "valid_pour_source_upright_tilt_deg": 2.2033041286279555, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16580471024247145, + 0.1772057197039528, + 1.013484499334851 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15514744544594594, + 0.20080823042824808, + 1.013484499334851 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1604760778442087, + 0.18900697506610042, + 1.013484499334851 + ], + "valid_pour_held_grasp_object_position": [ + 0.16580471024247145, + 0.20080823042824808, + 1.013484499334851 + ], + "valid_pour_held_grasp_finger_gap": 0.025897023099841723, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023809836457205615, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.021091231910115582, + -0.9992607095641424, + 0.03214333924595302 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005589114586264368, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033520081580559, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16580471024247145, + 0.1772057197039528, + 1.013484499334851 + ], + "held_grasp_finger_b": [ + 0.15514744544594594, + 0.20080823042824808, + 1.013484499334851 + ], + "held_grasp_midpoint": [ + 0.1604760778442087, + 0.18900697506610042, + 1.013484499334851 + ], + "held_grasp_object_position": [ + 0.16580471024247145, + 0.20080823042824808, + 1.013484499334851 + ], + "held_grasp_finger_gap": 0.025897023099841723, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023809836457205615, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.021091231910115582, + -0.9992607095641424, + 0.03214333924595302 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005589114586264368, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033520081580559, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.20939893765218634, + -0.05611236649332994, + 0.7565863959317155 + ], + "target_position": [ + 0.2130308609866168, + -0.05633936181505976, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003639010027915247, + "xy_threshold": 0.08, + "gripper_dist": 0.21413329063977377, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863959317155, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563478074376341, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09028458755113043, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18533574065341668, + "release_required_pad_clearance": 0.05514229377556522, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.376050697427992, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 230, + "max_placed_release_frames": 230 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.1651601427873455, + 0.2314430478149464, + 1.1626034950063273 + ], + "current_z": 1.1626034950063273, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30149698699156136, + "gripper_z": 1.1563196006634953, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1622792661790305, + 0.22751728712182118, + 1.1563196006634953 + ], + "object_minus_gripper": [ + 0.002880876608315014, + 0.003925760693125224, + 0.006283894342832053 + ], + "object_to_gripper_xy": 0.004869399044237765, + "object_to_gripper_z": 0.006283894342832053, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1651601427873455, + 0.20821228197068664, + 1.1626034950063273 + ], + "finger_b": [ + 0.1563663724410913, + 0.2314430478149464, + 1.1626034950063273 + ], + "finger_midpoint": [ + 0.1607632576142184, + 0.21982766489281652, + 1.1626034950063273 + ], + "object_minus_finger_midpoint": [ + 0.004396885173127113, + 0.01161538292212988, + 0.0 + ], + "finger_gap": 0.0248394621240776, + "fingertip_max_gap": 0.09155376598325313, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012419731062038803, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626034950063273, + "object_top_z": 1.2129410150895015, + "finger_top_clearance": 0.05033752008317416, + "fingertip_min_top_clearance": 0.015101256024952214, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012419731062038803, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048276882991626566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.036384017234346, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3107308442000686, + -0.3875959194828783, + 0.8515395707172881 + ], + "target_position": [ + 0.30600462510503945, + -0.38783396245466784, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004732209990124734, + "xy_threshold": 0.08, + "gripper_dist": 0.18350770249408713, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395707172881, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589360840665961, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08554446885291543, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15050790558975752, + "release_required_pad_clearance": 0.05277223442645772, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5934708911633942, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00869685411453247, + "max_z_decrease": 0.00869685411453247, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035044299186069494, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00869685411453247, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020972639976239053, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00869685411453247, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00869703780685399, + "max_button_displacement": 0.12, + "button_start": [ + 0.1617045551538468, + -0.4440954327583313, + 0.7768088579177856 + ], + "button_final": [ + 0.1617045551538468, + -0.4440954327583313, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15981433836108122, + -0.4453896494700371, + 0.8036761312349027 + ], + "closest_button": [ + 0.16166129708290106, + -0.44408586621284485, + 0.7687048316001892 + ], + "closest_ee_minus_button": [ + -0.0018469587218198358, + -0.0013037832571922703, + 0.03497129963471346 + ], + "button_min_z_position": [ + 0.1616551578044892, + -0.44406795501708984, + 0.7681120038032532 + ], + "min_active_finger_to_button": 0.14747903314729582, + "closest_active_finger": [ + 0.018962331116199493, + -0.4297543466091156, + 0.8110151886940002 + ], + "closest_active_finger_button": [ + 0.1616979986429215, + -0.44409650564193726, + 0.776796817779541 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.142735667526722, + 0.014342159032821655, + 0.03421837091445923 + ], + "min_contact_pad_to_button": 0.020972639976239053, + "closest_contact_pad": [ + 0.1616551578044892, + -0.4464147663210441, + 0.7889529275897981 + ], + "closest_contact_pad_button": [ + 0.1616551578044892, + -0.44406795501708984, + 0.7681120038032532 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002346811303954255, + 0.020840923786544896 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 96, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec6bec37888bad32f15c2bfcf5349c0ed4a45d33dbdfa20dffb3f87d4d66555b", + "visual_seed": 7338826068991469566, + "episode_index": 96, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_97_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_97_success.json new file mode 100644 index 0000000000000000000000000000000000000000..84f99de57910119da7f460ae524f92da7e8b30bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_97_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 97, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2326385551276252, + -0.05426148868041592, + 0.9981743790319377 + ], + "current_z": 0.9981743790319377, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14158793122801694, + "gripper_z": 1.0012144534036527, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22810445215860362, + -0.05873069759998335, + 1.0012144534036527 + ], + "object_minus_gripper": [ + 0.004534102969021597, + 0.0044692089195674314, + -0.0030400743717149403 + ], + "object_to_gripper_xy": 0.006366468259595076, + "object_to_gripper_z": -0.0030400743717149403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2326385551276252, + -0.07836854600210114, + 0.9981743790319377 + ], + "finger_b": [ + 0.22168773659123692, + -0.05426148868041592, + 0.9981743790319377 + ], + "finger_midpoint": [ + 0.22716314585943106, + -0.06631501734125853, + 0.9981743790319377 + ], + "object_minus_finger_midpoint": [ + 0.005475409268194148, + 0.012053528660842604, + 0.0 + ], + "finger_gap": 0.02647773856143916, + "fingertip_max_gap": 0.09298261965182525, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013238869280719576, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9981743790319377, + "object_top_z": 1.044019516171891, + "finger_top_clearance": 0.04584513713995331, + "fingertip_min_top_clearance": 0.013753541141985974, + "object_projection_between_fingers": 0.8289467282043552, + "object_to_finger_line_xy": 0.00997033827354691, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04899130982591263, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.9730215518399736, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15730336923260302, + 0.23677220006451088, + 0.7611064484101213 + ], + "gripper_position": [ + 0.16101374531019672, + 0.19755867996590826, + 1.0162872726797947 + ], + "target_minus_gripper": [ + -0.0037103760775936967, + 0.03921352009860263, + -0.25518082426967337 + ], + "held_position": [ + 0.16557218298768883, + 0.20188486958477453, + 1.0130788864114428 + ], + "held_minus_target": [ + 0.008268813755085813, + -0.034887330479736356, + 0.2519724380013215 + ], + "held_minus_gripper": [ + 0.0045584376774921165, + 0.004326189618866272, + -0.0032083862683518483 + ], + "xy_dist": 0.03938866650650529, + "held_xy_dist": 0.03585385765742143, + "held_gripper_dist": 0.007056133014967527, + "max_held_gripper_dist": 0.0070596678973677525, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101213, + "held_z": 1.0130788864114428, + "required_height": 0.7911064484101213, + "gripper_z": 1.0162872726797947, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18264942789953, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.067626792917647, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9116467358658749, + "max_source_tilt_deg": 89.85877342120514, + "source_upright_tilt_deg": 2.5119681948771566, + "max_source_upright_tilt_deg": 89.80637741341684, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9116467358658749, + "source_upright_return_tilt_deg": 2.5119681948771566, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 8.429369702178807e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1573, + 0.2368, + 0.7611 + ], + "controller_target_position": [ + 0.1573, + 0.2368, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0018, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.1581, + 0.2096, + 1.0253 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.065, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007777416596737767, + -0.0018441567798628494, + -0.0011767660411404646 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.511972013989624, + "source_return_step_error_deg": 1.9116478574926796, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5150627030621346, + "source_return_best_wrist_position": -1.6095644235610962, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095644235610962 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1573, + 0.2368, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1573, + 0.2368, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0018, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1581, + 0.2096, + 1.0253 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.065, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007777416596737767, + -0.0018441567798628494, + -0.0011767660411404646 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.511972013989624, + "pour_controller_source_return_step_error_deg": 1.9116478574926796, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5150627030621346, + "pour_controller_source_return_best_wrist_position": -1.6095644235610962, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095644235610962, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03938866650650529, + "valid_pour_held_xy_dist": 0.03585385765742143, + "valid_pour_held_gripper_dist": 0.007056133014967527, + "valid_pour_required_height": 0.7911064484101213, + "valid_pour_held_z": 1.0130788864114428, + "valid_pour_source_tilt_deg": 1.9116467358658749, + "valid_pour_source_upright_tilt_deg": 2.5119681948771566, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16557218298768883, + 0.17818470426025068, + 1.0130788864114428 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15473070987649096, + 0.20188486958477453, + 1.0130788864114428 + ], + "valid_pour_held_grasp_midpoint": [ + 0.1601514464320899, + 0.1900347869225126, + 1.0130788864114428 + ], + "valid_pour_held_grasp_object_position": [ + 0.16557218298768883, + 0.20188486958477453, + 1.0130788864114428 + ], + "valid_pour_held_grasp_finger_gap": 0.02606214449408546, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023999528392401537, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029713363263475227, + -0.9990390969567218, + 0.032217988693754473 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005782893592850281, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352259739847423, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16557218298768883, + 0.17818470426025068, + 1.0130788864114428 + ], + "held_grasp_finger_b": [ + 0.15473070987649096, + 0.20188486958477453, + 1.0130788864114428 + ], + "held_grasp_midpoint": [ + 0.1601514464320899, + 0.1900347869225126, + 1.0130788864114428 + ], + "held_grasp_object_position": [ + 0.16557218298768883, + 0.20188486958477453, + 1.0130788864114428 + ], + "held_grasp_finger_gap": 0.02606214449408546, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023999528392401537, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029713363263475227, + -0.9990390969567218, + 0.032217988693754473 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005782893592850281, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352259739847423, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.2093109245701577, + -0.05507486989014484, + 0.7565865928070431 + ], + "target_position": [ + 0.2111843700762389, + -0.05379101525437353, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0022711408564964107, + "xy_threshold": 0.08, + "gripper_dist": 0.21568294456526313, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865928070431, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759654755652069, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08813194164018574, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18576790053455863, + "release_required_pad_clearance": 0.054065970820092873, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.1439351831433027, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16413198142399751, + 0.23143178764172143, + 1.1629072636531523 + ], + "current_z": 1.1629072636531523, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30180081524303115, + "gripper_z": 1.1567033742841577, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1612303810307181, + 0.22758421054762656, + 1.1567033742841577 + ], + "object_minus_gripper": [ + 0.002901600393279413, + 0.0038475770940948617, + 0.006203889368994631 + ], + "object_to_gripper_xy": 0.004819038735814717, + "object_to_gripper_z": 0.006203889368994631, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16413198142399751, + 0.20809175797023272, + 1.1629072636531523 + ], + "finger_b": [ + 0.1556076181237348, + 0.23143178764172143, + 1.1629072636531523 + ], + "finger_midpoint": [ + 0.15986979977386617, + 0.21976177280597708, + 1.1629072636531523 + ], + "object_minus_finger_midpoint": [ + 0.004262181650131341, + 0.011670014835744341, + 0.0 + ], + "finger_gap": 0.02484797284972839, + "fingertip_max_gap": 0.09147212982747258, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012423986424864177, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629072636531523, + "object_top_z": 1.213024069653867, + "finger_top_clearance": 0.050116806000714664, + "fingertip_min_top_clearance": 0.015035041800214432, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012423986424864177, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823606491373629, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.0746662648663143, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.30889528865409527, + -0.3823222863939788, + 0.8515396060717474 + ], + "target_position": [ + 0.3024918470623517, + -0.38327337266614603, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006473687458935297, + "xy_threshold": 0.08, + "gripper_dist": 0.1822727559930658, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396060717474, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535373199819549, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08563758846702572, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15078543544742484, + "release_required_pad_clearance": 0.052818794233512864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6829933118876599, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008638978004455566, + "max_z_decrease": 0.008638978004455566, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350396092832598, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008638978004455566, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02085276607664477, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008638978004455566, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008639624732274413, + "max_button_displacement": 0.12, + "button_start": [ + 0.1581917703151703, + -0.43953484296798706, + 0.7768088579177856 + ], + "button_final": [ + 0.1581917703151703, + -0.43953484296798706, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15751002269346123, + -0.4377618306489349, + 0.8036027796814085 + ], + "closest_button": [ + 0.15808987617492676, + -0.43953368067741394, + 0.768612802028656 + ], + "closest_ee_minus_button": [ + -0.0005798534814655254, + 0.0017718500284790162, + 0.03498997765275247 + ], + "button_min_z_position": [ + 0.158087357878685, + -0.4395183324813843, + 0.7681698799133301 + ], + "min_active_finger_to_button": 0.14563248181322855, + "closest_active_finger": [ + 0.03151240199804306, + -0.5027563571929932, + 0.8107619881629944 + ], + "closest_active_finger_button": [ + 0.15818677842617035, + -0.43953409790992737, + 0.7766245007514954 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1266743764281273, + -0.0632222592830658, + 0.03413748741149902 + ], + "min_contact_pad_to_button": 0.02085276607664477, + "closest_contact_pad": [ + 0.158087357878685, + -0.4395183324813843, + 0.7890226459899748 + ], + "closest_contact_pad_button": [ + 0.158087357878685, + -0.4395183324813843, + 0.7681698799133301 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02085276607664477 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 97, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "31228dfba5f6ecbf8a62ca98c0b2dcbe7def3559184333aecbaea1442aa95ec0", + "visual_seed": 932995401705264360, + "episode_index": 97, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_98_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_98_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a93f969fe7171699d617023594a49b50c297cc8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_98_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 98, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23856351038998752, + -0.04968775998003462, + 0.9985414399231192 + ], + "current_z": 0.9985414399231192, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1419549325145536, + "gripper_z": 1.0014957572649543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2341398417290341, + -0.05402375653949852, + 1.0014957572649543 + ], + "object_minus_gripper": [ + 0.004423668660953423, + 0.0043359965594639005, + -0.0029543173418351554 + ], + "object_to_gripper_xy": 0.006194328905182888, + "object_to_gripper_z": -0.0029543173418351554, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23856351038998752, + -0.0738884847209715, + 0.9985414399231192 + ], + "finger_b": [ + 0.22797990892229358, + -0.04968775998003462, + 0.9985414399231192 + ], + "finger_midpoint": [ + 0.23327170965614055, + -0.06178812235050306, + 0.9985414399231192 + ], + "object_minus_finger_midpoint": [ + 0.005291800733846969, + 0.012100362370468437, + 0.0 + ], + "finger_gap": 0.026413778563726308, + "fingertip_max_gap": 0.09279232734563156, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013206889281863154, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9985414399231192, + "object_top_z": 1.0443207757288357, + "finger_top_clearance": 0.04577933580571658, + "fingertip_min_top_clearance": 0.013733800741714973, + "object_projection_between_fingers": 0.8394516338099528, + "object_to_finger_line_xy": 0.009696864281249704, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04889616367281578, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8515481886170533, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 166, + "max_stable_success_frames": 166, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15513420719761456, + 0.23446064253315405, + 0.7611063888054767 + ], + "gripper_position": [ + 0.15853050078182132, + 0.1982728890463787, + 1.0179924260333448 + ], + "target_minus_gripper": [ + -0.003396293584206761, + 0.03618775348677536, + -0.2568860372278682 + ], + "held_position": [ + 0.16289346592709647, + 0.20256898295819464, + 1.0148900946837045 + ], + "held_minus_target": [ + 0.00775925872948191, + -0.0318916595749594, + 0.25378370587822785 + ], + "held_minus_gripper": [ + 0.0043629651452751494, + 0.004296093911815957, + -0.0031023313496403304 + ], + "xy_dist": 0.036346778571556326, + "held_xy_dist": 0.03282200552184679, + "held_gripper_dist": 0.006864134873455586, + "max_held_gripper_dist": 0.006868581977871152, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0148900946837045, + "required_height": 0.7911063888054767, + "gripper_z": 1.0179924260333448, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1848214280556, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.5743052322766222, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9311970491379304, + "max_source_tilt_deg": 89.96486785904449, + "source_upright_tilt_deg": 3.3954716322120158, + "max_source_upright_tilt_deg": 89.71631967080882, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9311970491379304, + "source_upright_return_tilt_deg": 3.3954716322120158, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-08, + "max_target_xy_drift": 1.2013700229374393e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1551, + 0.2345, + 0.7611 + ], + "controller_target_position": [ + 0.1551, + 0.2345, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.001, + 0.0004 + ], + "controller_last_pour_pose_position": [ + 0.1541, + 0.2101, + 1.0268 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0694, + 0.0663, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001053857367056653, + 0.0009724276122435854, + 0.000429347924894438 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.3954758454193303, + "source_return_step_error_deg": 1.9311916225542796, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.399456563001295, + "source_return_best_wrist_position": -1.6099871397018433, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6099871397018433 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1551, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1551, + 0.2345, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.001, + 0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1541, + 0.2101, + 1.0268 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0694, + 0.0663, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001053857367056653, + 0.0009724276122435854, + 0.000429347924894438 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.3954758454193303, + "pour_controller_source_return_step_error_deg": 1.9311916225542796, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.399456563001295, + "pour_controller_source_return_best_wrist_position": -1.6099871397018433, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6099871397018433, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036346778571556326, + "valid_pour_held_xy_dist": 0.03282200552184679, + "valid_pour_held_gripper_dist": 0.006864134873455586, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0148900946837045, + "valid_pour_source_tilt_deg": 1.9311970491379304, + "valid_pour_source_upright_tilt_deg": 3.3954716322120158, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16289346592709647, + 0.1791447048050871, + 1.0148900946837045 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15194350985767016, + 0.20256898295819464, + 1.0148900946837045 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15741848789238333, + 0.19085684388164087, + 1.0148900946837045 + ], + "valid_pour_held_grasp_object_position": [ + 0.16289346592709647, + 0.20256898295819464, + 1.0148900946837045 + ], + "valid_pour_held_grasp_finger_gap": 0.025857268705656397, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023924918069884293, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.04947606616397754, + -0.9982445207515869, + 0.0325575746389738 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00605947497196872, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03377952668185222, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16289346592709647, + 0.1791447048050871, + 1.0148900946837045 + ], + "held_grasp_finger_b": [ + 0.15194350985767016, + 0.20256898295819464, + 1.0148900946837045 + ], + "held_grasp_midpoint": [ + 0.15741848789238333, + 0.19085684388164087, + 1.0148900946837045 + ], + "held_grasp_object_position": [ + 0.16289346592709647, + 0.20256898295819464, + 1.0148900946837045 + ], + "held_grasp_finger_gap": 0.025857268705656397, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023924918069884293, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.04947606616397754, + -0.9982445207515869, + 0.0325575746389738 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00605947497196872, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03377952668185222, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.212977693159555, + -0.048046871219977846, + 0.7565869034756896 + ], + "target_position": [ + 0.21601784691982637, + -0.05115123599145338, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0043450679534928404, + "xy_threshold": 0.08, + "gripper_dist": 0.21270040397253573, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869034756896, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538390496697209, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08616238038196582, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18506822901081113, + "release_required_pad_clearance": 0.05308119019098291, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1908957085447247, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16206718486215896, + 0.2315814883216009, + 1.163262202700353 + ], + "current_z": 1.163262202700353, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30215581389487645, + "gripper_z": 1.1570884351737367, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.15933936188998574, + 0.22767592884706012, + 1.1570884351737367 + ], + "object_minus_gripper": [ + 0.0027278229721732217, + 0.0039055594745407707, + 0.006173767526616247 + ], + "object_to_gripper_xy": 0.0047638653398990125, + "object_to_gripper_z": 0.006173767526616247, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16206718486215896, + 0.20870417800546348, + 1.163262202700353 + ], + "finger_b": [ + 0.1529861051768659, + 0.2315814883216009, + 1.163262202700353 + ], + "finger_midpoint": [ + 0.1575266450195124, + 0.22014283316353217, + 1.163262202700353 + ], + "object_minus_finger_midpoint": [ + 0.004540539842646546, + 0.011438655158068717, + 0.0 + ], + "finger_gap": 0.024613763132676186, + "fingertip_max_gap": 0.09148481113400925, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01230688156633811, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163262202700353, + "object_top_z": 1.213471669779696, + "finger_top_clearance": 0.05020946707934293, + "fingertip_min_top_clearance": 0.015062840123802912, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.01230688156633811, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048242405567004626, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.901843893451449, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3075359372499078, + -0.378764654676482, + 0.8515395622756939 + ], + "target_position": [ + 0.30178155332447726, + -0.37907120799033006, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005762543648032924, + "xy_threshold": 0.08, + "gripper_dist": 0.1827021457178557, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395622756939, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533155236025216, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630386576328163, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1510996605424811, + "release_required_pad_clearance": 0.053151932881640815, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.328815425685176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008646786212921143, + "max_z_decrease": 0.008646786212921143, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500453199078843, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008646786212921143, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02093222406590488, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008646786212921143, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008646954492758223, + "max_button_displacement": 0.12, + "button_start": [ + 0.15748147666454312, + -0.4353326559066772, + 0.7768088579177856 + ], + "button_final": [ + 0.15748147666454312, + -0.4353326559066772, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1574850378766774, + -0.43603881011160067, + 0.8031589633140557 + ], + "closest_button": [ + 0.1574328243732452, + -0.43530935049057, + 0.7681620717048645 + ], + "closest_ee_minus_button": [ + 5.221350343218023e-05, + -0.0007294596210306592, + 0.03499689160919117 + ], + "button_min_z_position": [ + 0.1574328243732452, + -0.43530935049057, + 0.7681620717048645 + ], + "min_active_finger_to_button": 0.14573802553612608, + "closest_active_finger": [ + 0.01640842854976654, + -0.42238563299179077, + 0.810897946357727 + ], + "closest_active_finger_button": [ + 0.15747785568237305, + -0.43533223867416376, + 0.7766726016998291 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1410694271326065, + 0.012946605682372991, + 0.03422534465789795 + ], + "min_contact_pad_to_button": 0.02093222406590488, + "closest_contact_pad": [ + 0.1574328243732452, + -0.4370004783601692, + 0.7890258702773659 + ], + "closest_contact_pad_button": [ + 0.1574328243732452, + -0.43530935049057, + 0.7681620717048645 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001691127869599185, + 0.020863798572501424 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 98, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ff750c8fa9465ef8e9af0ffc5e919738887a6ee5e0283dfea64adc7abeb3aac3", + "visual_seed": 6150403799205806676, + "episode_index": 98, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_99_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_99_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f9690ed26310b77eca47b396838f9425c131ad0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_99_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 99, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.23610314128072865, + -0.05160527727205343, + 0.9947041804033194 + ], + "current_z": 0.9947041804033194, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13811767299475386, + "gripper_z": 0.9976971548538472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2316441035147334, + -0.05594654405340692, + 0.9976971548538472 + ], + "object_minus_gripper": [ + 0.0044590377659952385, + 0.004341266781353485, + -0.002992974450527819 + ], + "object_to_gripper_xy": 0.006223312226255008, + "object_to_gripper_z": -0.002992974450527819, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.23610314128072865, + -0.07584597135815278, + 0.9947041804033194 + ], + "finger_b": [ + 0.22555056637125442, + -0.05160527727205343, + 0.9947041804033194 + ], + "finger_midpoint": [ + 0.23082685382599155, + -0.0637256243151031, + 0.9947041804033194 + ], + "object_minus_finger_midpoint": [ + 0.0052762874547371, + 0.012120347043049672, + 0.0 + ], + "finger_gap": 0.02643800459558015, + "fingertip_max_gap": 0.09282479498844334, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013219002297790066, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9947041804033194, + "object_top_z": 1.0405017622867794, + "finger_top_clearance": 0.04579758188345995, + "fingertip_min_top_clearance": 0.013739274565037984, + "object_projection_between_fingers": 0.8406839463892212, + "object_to_finger_line_xy": 0.009675531270766797, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048912397494221674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8361280980789354, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15861103553433037, + 0.23928009529575772, + 0.7611063292008317 + ], + "gripper_position": [ + 0.1625215940345395, + 0.20047753356798276, + 1.0167992078371282 + ], + "target_minus_gripper": [ + -0.0039105585002091325, + 0.038802561727774965, + -0.25569287863629653 + ], + "held_position": [ + 0.166964601861828, + 0.20472604113440113, + 1.0136495848603222 + ], + "held_minus_target": [ + 0.008353566327497619, + -0.034554054161356595, + 0.25254325565949054 + ], + "held_minus_gripper": [ + 0.0044430078272884865, + 0.004248507566418369, + -0.003149622976805988 + ], + "xy_dist": 0.03899911876467652, + "held_xy_dist": 0.03554946876359571, + "held_gripper_dist": 0.006907261395899616, + "max_held_gripper_dist": 0.006911059129188903, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0136495848603222, + "required_height": 0.7911063292008317, + "gripper_z": 1.0167992078371282, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17685742748337, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.660314526281545, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9683315633964176, + "max_source_tilt_deg": 89.80156565723256, + "source_upright_tilt_deg": 2.869813217648873, + "max_source_upright_tilt_deg": 89.88432209711495, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9683315633964176, + "source_upright_return_tilt_deg": 2.869813217648873, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1586, + 0.2393, + 0.7611 + ], + "controller_target_position": [ + 0.1586, + 0.2393, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0016, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.1596, + 0.2124, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0686, + 0.0656, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010322540663829398, + -0.0016250161332132277, + -0.00017964184342031766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8700588574339934, + "source_return_step_error_deg": 1.9685145906100776, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.872902550327227, + "source_return_best_wrist_position": -1.6097825765609741, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6097825765609741 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1586, + 0.2393, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1586, + 0.2393, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0016, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1596, + 0.2124, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0686, + 0.0656, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010322540663829398, + -0.0016250161332132277, + -0.00017964184342031766 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8700588574339934, + "pour_controller_source_return_step_error_deg": 1.9685145906100776, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.872902550327227, + "pour_controller_source_return_best_wrist_position": -1.6097825765609741, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6097825765609741, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03899911876467652, + "valid_pour_held_xy_dist": 0.03554946876359571, + "valid_pour_held_gripper_dist": 0.006907261395899616, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0136495848603222, + "valid_pour_source_tilt_deg": 1.9683315633964176, + "valid_pour_source_upright_tilt_deg": 2.869813217648873, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.166964601861828, + 0.18107213908196546, + 1.0136495848603222 + ], + "valid_pour_held_grasp_finger_b": [ + 0.15629392941614556, + 0.20472604113440113, + 1.0136495848603222 + ], + "valid_pour_held_grasp_midpoint": [ + 0.16162926563898677, + 0.1928990901081833, + 1.0136495848603222 + ], + "valid_pour_held_grasp_object_position": [ + 0.166964601861828, + 0.20472604113440113, + 1.0136495848603222 + ], + "valid_pour_held_grasp_finger_gap": 0.025949380199713185, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02402735015869967, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03777764496022728, + -0.9987458826535212, + 0.032855919160754025 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0057911508778038, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358966276160081, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.166964601861828, + 0.18107213908196546, + 1.0136495848603222 + ], + "held_grasp_finger_b": [ + 0.15629392941614556, + 0.20472604113440113, + 1.0136495848603222 + ], + "held_grasp_midpoint": [ + 0.16162926563898677, + 0.1928990901081833, + 1.0136495848603222 + ], + "held_grasp_object_position": [ + 0.166964601861828, + 0.20472604113440113, + 1.0136495848603222 + ], + "held_grasp_finger_gap": 0.025949380199713185, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02402735015869967, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03777764496022728, + -0.9987458826535212, + 0.032855919160754025 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0057911508778038, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358966276160081, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21690891984662825, + -0.05317451814930625, + 0.7565861687289088 + ], + "target_position": [ + 0.21381509591049305, + -0.054453210862350256, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0033476561355962014, + "xy_threshold": 0.08, + "gripper_dist": 0.21863519197083497, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861687289088, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568073637847733, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08825416858403666, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1893561232960685, + "release_required_pad_clearance": 0.05412708429201833, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.2684504737956734, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 229, + "max_placed_release_frames": 229 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16577691807072967, + 0.23744242546174035, + 1.1610132751859357 + ], + "current_z": 1.1610132751859357, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.29990694598510403, + "gripper_z": 1.1546404325748263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1628275514614988, + 0.23338592696514743, + 1.1546404325748263 + ], + "object_minus_gripper": [ + 0.002949366609230869, + 0.004056498496592925, + 0.006372842611109375 + ], + "object_to_gripper_xy": 0.00501537071895056, + "object_to_gripper_z": 0.006372842611109375, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16577691807072967, + 0.21452680277946953, + 1.1610132751859357 + ], + "finger_b": [ + 0.15632890392395737, + 0.23744242546174035, + 1.1610132751859357 + ], + "finger_midpoint": [ + 0.16105291099734353, + 0.22598461412060494, + 1.1610132751859357 + ], + "object_minus_finger_midpoint": [ + 0.004724007073386133, + 0.01145781134113541, + 0.0 + ], + "finger_gap": 0.024786906507949198, + "fingertip_max_gap": 0.09119824112639577, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012393453253974594, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1610132751859357, + "object_top_z": 1.2111806925916873, + "finger_top_clearance": 0.05016741740575159, + "fingertip_min_top_clearance": 0.015050225221725477, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012393453253974594, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048099120563197886, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7284223702634529, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3058069517997286, + -0.3858895383671672, + 0.8515396373323476 + ], + "target_position": [ + 0.30048699424117264, + -0.3861759109898114, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005327659683560584, + "xy_threshold": 0.08, + "gripper_dist": 0.18391909093182315, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396373323476, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534856030705357, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08755887485592694, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15219907592351936, + "release_required_pad_clearance": 0.05377943742796347, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.5681033420848816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008526980876922607, + "max_z_decrease": 0.008526980876922607, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503656259416673, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008526980876922607, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021033878577574803, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008526980876922607, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008527130730400663, + "max_button_displacement": 0.12, + "button_start": [ + 0.15618692338466644, + -0.44243738055229187, + 0.7768088579177856 + ], + "button_final": [ + 0.15618692338466644, + -0.44243738055229187, + 0.7768088579177856 + ], + "closest_ee": [ + 0.15564727064961945, + -0.44417898944657136, + 0.8036900117600897 + ], + "closest_button": [ + 0.15613561868667605, + -0.4424287676811218, + 0.7687005996704102 + ], + "closest_ee_minus_button": [ + -0.0004883480370566073, + -0.0017502217654495333, + 0.03498941208967954 + ], + "button_min_z_position": [ + 0.1561417132616043, + -0.4424147605895996, + 0.768281877040863 + ], + "min_active_finger_to_button": 0.14621267183707082, + "closest_active_finger": [ + 0.014675594866275787, + -0.4288904666900635, + 0.8106625080108643 + ], + "closest_active_finger_button": [ + 0.15618209540843964, + -0.442438542842865, + 0.7764498591423035 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14150650054216385, + 0.013548076152801514, + 0.03421264886856079 + ], + "min_contact_pad_to_button": 0.021033878577574803, + "closest_contact_pad": [ + 0.1561417132616043, + -0.4452726406854876, + 0.7891207006490634 + ], + "closest_contact_pad_button": [ + 0.1561417132616043, + -0.4424147605895996, + 0.768281877040863 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002857880095887999, + 0.02083882360820033 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 99, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "22ce1d7a2d70dc25e7feab3a1f03a51374b9abb6f48333e37a9d204b8e5beaf9", + "visual_seed": 5554640567251529333, + "episode_index": 99, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_9_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_9_success.json new file mode 100644 index 0000000000000000000000000000000000000000..202a6417325b1c00c9e0ccb8d8c26d1ece827c42 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/episode_9_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 9, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2295272744967884, + -0.05165885334190347, + 0.9968664508245295 + ], + "current_z": 0.9968664508245295, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14027988381131917, + "gripper_z": 0.9996278246938326, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.22538461474312874, + -0.055962671467341504, + 0.9996278246938326 + ], + "object_minus_gripper": [ + 0.0041426597536596554, + 0.004303818125438036, + -0.0027613738693030854 + ], + "object_to_gripper_xy": 0.005973648825587294, + "object_to_gripper_z": -0.0027613738693030854, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2295272744967884, + -0.07543294764890487, + 0.9968664508245295 + ], + "finger_b": [ + 0.2187366382131528, + -0.05165885334190347, + 0.9968664508245295 + ], + "finger_midpoint": [ + 0.2241319563549706, + -0.06354590049540418, + 0.9968664508245295 + ], + "object_minus_finger_midpoint": [ + 0.00539531814181779, + 0.01188704715350071, + 0.0 + ], + "finger_gap": 0.026108339501467903, + "fingertip_max_gap": 0.09321209553779064, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013054169750733959, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968664508245295, + "object_top_z": 1.0427601382846583, + "finger_top_clearance": 0.045893687460128785, + "fingertip_min_top_clearance": 0.013768106238038652, + "object_projection_between_fingers": 0.8291812240593304, + "object_to_finger_line_xy": 0.00982588741904785, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04910604776889532, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 2.1452961050945354, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.15617178995270342, + 0.23270589669212777, + 0.7611063888054765 + ], + "gripper_position": [ + 0.15959313790831797, + 0.19405957682656477, + 1.0168440669552528 + ], + "target_minus_gripper": [ + -0.003421347955614551, + 0.038646319865562995, + -0.2557376781497762 + ], + "held_position": [ + 0.16380207905680355, + 0.19819159721856883, + 1.013923873984248 + ], + "held_minus_target": [ + 0.00763028910410013, + -0.03451429947355894, + 0.25281748517877145 + ], + "held_minus_gripper": [ + 0.004208941148485579, + 0.004132020392004054, + -0.0029201929710047647 + ], + "xy_dist": 0.03879746977555105, + "held_xy_dist": 0.03534767573635727, + "held_gripper_dist": 0.006581512371731749, + "max_held_gripper_dist": 0.006597495375672127, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.013923873984248, + "required_height": 0.7911063888054766, + "gripper_z": 1.0168440669552528, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18293629584467, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.764147789725117, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 1.9302781343166455, + "max_source_tilt_deg": 89.66735468562031, + "source_upright_tilt_deg": 2.2143637146125563, + "max_source_upright_tilt_deg": 89.65090287793409, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 1.9302781343166455, + "source_upright_return_tilt_deg": 2.2143637146125563, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.1073424255447017e-08, + "max_target_xy_drift": 7.598131170262075e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.1562, + 0.2327, + 0.7611 + ], + "controller_target_position": [ + 0.1562, + 0.2327, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0006, + -0.0011, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.1567, + 0.2063, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0645, + 0.0932 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000567315888282936, + -0.0010562997830739218, + -0.0006517558144193086 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.214367516050336, + "source_return_step_error_deg": 1.9303133111432982, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2115779560400557, + "source_return_best_wrist_position": -1.6095478534698486, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6095478534698486 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.1562, + 0.2327, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.1562, + 0.2327, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0006, + -0.0011, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.1567, + 0.2063, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0645, + 0.0932 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000567315888282936, + -0.0010562997830739218, + -0.0006517558144193086 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.214367516050336, + "pour_controller_source_return_step_error_deg": 1.9303133111432982, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2115779560400557, + "pour_controller_source_return_best_wrist_position": -1.6095478534698486, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6095478534698486, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03879746977555105, + "valid_pour_held_xy_dist": 0.03534767573635727, + "valid_pour_held_gripper_dist": 0.006581512371731749, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.013923873984248, + "valid_pour_source_tilt_deg": 1.9302781343166455, + "valid_pour_source_upright_tilt_deg": 2.2143637146125563, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.1073424255447017e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.16380207905680355, + 0.17464648800747992, + 1.013923873984248 + ], + "valid_pour_held_grasp_finger_b": [ + 0.1533647960298376, + 0.19819159721856883, + 1.013923873984248 + ], + "valid_pour_held_grasp_midpoint": [ + 0.15858343754332058, + 0.1864190426130244, + 1.013923873984248 + ], + "valid_pour_held_grasp_object_position": [ + 0.16380207905680355, + 0.19819159721856883, + 1.013923873984248 + ], + "valid_pour_held_grasp_finger_gap": 0.025754786831715285, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02376347028078591, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022605779128546173, + -0.9992532697574225, + 0.03133499049132771 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00549570601700262, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355443274022754, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.16380207905680355, + 0.17464648800747992, + 1.013923873984248 + ], + "held_grasp_finger_b": [ + 0.1533647960298376, + 0.19819159721856883, + 1.013923873984248 + ], + "held_grasp_midpoint": [ + 0.15858343754332058, + 0.1864190426130244, + 1.013923873984248 + ], + "held_grasp_object_position": [ + 0.16380207905680355, + 0.19819159721856883, + 1.013923873984248 + ], + "held_grasp_finger_gap": 0.025754786831715285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02376347028078591, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022605779128546173, + -0.9992532697574225, + 0.03133499049132771 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00549570601700262, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355443274022754, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.21710762940183606, + -0.053719484162846706, + 0.7565868773842215 + ], + "target_position": [ + 0.20876067767185383, + -0.05119106644871161, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008721496392237144, + "xy_threshold": 0.08, + "gripper_dist": 0.22357141907373534, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868773842215, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556492337842673, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0873444863539276, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19329248528824197, + "release_required_pad_clearance": 0.0536722431769638, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.351727619555529, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 234, + "max_placed_release_frames": 234 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.16301693349378824, + 0.22803416560263756, + 1.163380144099329 + ], + "current_z": 1.163380144099329, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3022737552938525, + "gripper_z": 1.1572729651276028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.16038968334971643, + 0.22416113305158014, + 1.1572729651276028 + ], + "object_minus_gripper": [ + 0.0026272501440718077, + 0.0038730325510574204, + 0.00610717897172619 + ], + "object_to_gripper_xy": 0.004680045348185815, + "object_to_gripper_z": 0.00610717897172619, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.16301693349378824, + 0.20516321273006471, + 1.163380144099329 + ], + "finger_b": [ + 0.1540686123699948, + 0.22803416560263756, + 1.163380144099329 + ], + "finger_midpoint": [ + 0.1585427729318915, + 0.21659868916635114, + 1.163380144099329 + ], + "object_minus_finger_midpoint": [ + 0.004474160561896728, + 0.011435476436286424, + 0.0 + ], + "finger_gap": 0.0245591721406479, + "fingertip_max_gap": 0.09180634286052011, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012279586070323954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163380144099329, + "object_top_z": 1.2136282398305527, + "finger_top_clearance": 0.050248095731223685, + "fingertip_min_top_clearance": 0.015074428719367105, + "object_projection_between_fingers": 0.5, + "object_to_finger_line_xy": 0.012279586070323954, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840317143026006, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1599299820011917, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3119595883360629, + -0.3778331226951447, + 0.8515395507920759 + ], + "target_position": [ + 0.306717726926144, + -0.37841630265375104, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005274202300340495, + "xy_threshold": 0.08, + "gripper_dist": 0.18486528623685186, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395507920759, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557533136445355, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08586110304246196, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15268179208468424, + "release_required_pad_clearance": 0.05293055152123098, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8987391101556094, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008367955684661865, + "max_z_decrease": 0.008367955684661865, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499823899201512, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008367955684661865, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020893643850833907, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008367955684661865, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008368428144943117, + "max_button_displacement": 0.12, + "button_start": [ + 0.16241765022277832, + -0.4346777498722076, + 0.7768088579177856 + ], + "button_final": [ + 0.16241765022277832, + -0.4346777498722076, + 0.7768088579177856 + ], + "closest_ee": [ + 0.16160688142838922, + -0.43440011119116856, + 0.8037933236508441 + ], + "closest_button": [ + 0.16232848167419434, + -0.4346501231193542, + 0.7688034176826477 + ], + "closest_ee_minus_button": [ + -0.0007216002458051152, + 0.0002500119281856339, + 0.0349899059681964 + ], + "button_min_z_position": [ + 0.16233035922050476, + -0.434660792350769, + 0.7684409022331238 + ], + "min_active_finger_to_button": 0.14637478291525083, + "closest_active_finger": [ + 0.034361690282821655, + -0.49683013558387756, + 0.8106606602668762 + ], + "closest_active_finger_button": [ + 0.16241510212421417, + -0.4346804320812225, + 0.7765239477157593 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12805341184139252, + -0.062149703502655085, + 0.03413671255111694 + ], + "min_contact_pad_to_button": 0.020893643850833907, + "closest_contact_pad": [ + 0.16233035922050476, + -0.43561856101988317, + 0.7893125823893056 + ], + "closest_contact_pad_button": [ + 0.16233035922050476, + -0.434660792350769, + 0.7684409022331238 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0009577686691141785, + 0.020871680156181793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 9, + "reproducibility": { + "enabled": true, + "action_seed": 8965520104066671838, + "physical_seed": 3697495222794957137, + "layout_id": "layout_00032", + "step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "workflow_spec_digest": "910cfba33eb9e90e8014b1c0c48f03538f34be56741962f34a7730d98646c43a", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "69ab41a521ee44ff6e636877eb91e10ef5f684b3d7572ea7b26bd84825adf0dd", + "visual_seed": 435404284559267172, + "episode_index": 9, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 5868908299052723470, + 1147186024122430536, + 7048677080094423649, + 1480185638166204106, + 3014162407012415582, + 4167145195996473630 + ], + "runtime_workflow_digest": "67f5509719b2a9810dae679a6c1ebcbac320bb2f9732a4c687a204ca7a566fe0" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/summary.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..8696fe18f335849421b96d4d7881b757690ab947 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00032/results/summary.json @@ -0,0 +1,9 @@ +{ + "scope": "published_success_subset", + "case": "lab3_heat_2beaker_s06_polplr_htc_00032", + "family": "lab3_v1", + "published_episodes": 100, + "published_successes": 100, + "published_failures": 0, + "matched_success_results": 100 +} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0000.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0000.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2c8e46337e2bb2966f842e5d5e4f47685c8f7bc0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0000.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bbca47cbf9fd25f8ab7810d0e1fd7435e75ad8885b335ae1239fd2c78826e100 +size 9410694 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0001.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0001.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b06f438ed6ec5ce16bbb38b55e35c8caa806c73a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0001.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:36c12087af5786d7175590cad6418e0d4c10cfa36b515e22526468f347ab4a5f +size 8504893 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0002.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0002.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5081e3a50b27ff3e414bee019b26492ee2b2e50 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0002.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:598522e933e71159bba44cc352efdf401b6321640fab5abbb10bc9d04d0e6557 +size 7914358 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0003.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0003.h5 new file mode 100644 index 0000000000000000000000000000000000000000..972b2cf7b736f2483c90a3641c03985f814c5521 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0003.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1e697eb158d162953eb24c70747c393516a55ce37f1d5ed08717931c6f6a951d +size 10915661 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0004.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0004.h5 new file mode 100644 index 0000000000000000000000000000000000000000..75065439775a82f6df4e3dc5a78800efb9ba55b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0004.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f13ee28bc4b40d9a47364c17829fc06b0ee38b4db4cababcac3585a0fcbcd0c7 +size 9672987 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0005.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0005.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec4b88a0e83d5fdf899d6ae4edb22d302bc9d9fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0005.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bf9dac0803aab8c4af4c83bab5015deeb0ffb68e46199ea8f32c92e00859d6f6 +size 11730242 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0006.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0006.h5 new file mode 100644 index 0000000000000000000000000000000000000000..90f7804784de2d963114dc18ced1ec992ce01908 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0006.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c8e6c02b733b65f56ad0ac746693ac269c60cd978cce3a766fe0dce08bf49d82 +size 10505746 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0007.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0007.h5 new file mode 100644 index 0000000000000000000000000000000000000000..589b4bc8576f5443050cace52ca3199a5253b26d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0007.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:901e7df607358b968d82eb7cbebc4b3e69a001a499bd90d4a864c8f55b1b2a65 +size 11613398 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0008.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0008.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7c7fadb64047ffa0d78c9a0e20c1684274f128e9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0008.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e58407a7885bddf2cda1d13cee13df6cca74a9382d563b6637fd90f1721460ab +size 10328228 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0009.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0009.h5 new file mode 100644 index 0000000000000000000000000000000000000000..81a78507cb86e90ebbaf2c5ffc1529068bd64939 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0009.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:689217aa959de24372941e6a007548f34cd988bfa1057258fd0a0cc21a3d195f +size 10958301 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0010.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0010.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e5a27a13c30c45490652e920e320cddfdc9dd2e7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0010.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4c4e9e5d673ece783e8c25e6a62a6c40c5f855451a01c94b47ba18a7e791aa5f +size 8957844 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0011.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0011.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d67ca3223bc679a7f56d97948a956c450da4c680 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0011.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8e7994ff28c4bf2509dfe9b0062c2d6afde7883ae4cf730cc5cfccf64abc3bd7 +size 9189759 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0012.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0012.h5 new file mode 100644 index 0000000000000000000000000000000000000000..7338252db9f09887b1e95228d5fceda196af0e72 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0012.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3ac04ea16727dc3cf4401ef0110372754d6580b7e27acf0a508a4c7e090674e5 +size 9457237 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0013.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0013.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0818c24a43e1294eb0ec0602c29d36cc1f161126 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0013.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cc89c57139a70a2067c7a1c2d9a4dcceb450e6ed5502a4537b2d7b318928b3e6 +size 10025851 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0014.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0014.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d900901c3f4db3fe4c7f78f8f7f786b8323d9510 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0014.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0e84ece35368bad18be8ccb4d3a87ff37e7003d0f6d9f3d7e35207843d692a2e +size 11515754 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0015.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0015.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e6751a9cd0880a1f772b7ea458162ab37b3751a5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0015.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5bb7d072534edba324edcc6fd0884c1e09d7c745049a63470a63f43599a6f39d +size 9373483 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0016.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0016.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78925f586f6346ff7dd2b0cea9c47d687beb61aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0016.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc630653ec560e2f7360b54bfb05a604e07cd3f9bb689302e7faab21e3dae963 +size 12911611 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0017.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0017.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b301e0e147f85fd0720030e7c4aa0ffa6e94f39e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0017.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ada8838af8a630bcdfeec603a3212cda91787ec44ff0ffb15bbf3ad3d50a0f24 +size 10974726 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0018.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0018.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc6b32f0a501fbda2cf378f8c6cc6a6bc63eada2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0018.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:5e2896f4a87cb7cc7646e0bbb5001ccfbc2b093ca41e409b80fbb07645a65081 +size 10376445 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0019.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0019.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3a8faad51daa76372bbb3e2ebb56767ab685a1b0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0019.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6a438c140ec5baa775d0b197bd85d4a2b0ebcd1b1d57f62c9e570a84b99bd00a +size 12855554 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0020.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0020.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8cca2e86260008289c04916e62aa5e99b137cf1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0020.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f9cdc6675a4a94af0bebe0f5ea3cac1f24dbf90bf2e1dbc1dde5fd8e37a31021 +size 9257211 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0021.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0021.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec86283d4223a80c1263b8f45de107df4c99a9f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0021.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d54352a761323c8750c66d7468bf12a462a3a3b290df75738870d3afdff8544d +size 10331871 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0022.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0022.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c8ddcfc34439d62f044fe527b917ae931735d9a3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0022.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fe55666e063a3e2adfb5460b161935462decb7b431a731674f11b97a0442373f +size 9515839 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0023.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0023.h5 new file mode 100644 index 0000000000000000000000000000000000000000..acafa8b2604488fd2ea44cac640072a505af1ce2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0023.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3f48cb1496c08b06553c0e3c8e9366b76b47d887c08e35faba8022c9e651b0c9 +size 9862085 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0024.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0024.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb1b4d3d6ab8d61cabb116d58dceee3c7f7342a2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0024.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f01da356f488f085566ec21f651c2f90d8c815e4f5d0e1cdb090602a2265d5e +size 9529025 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0025.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0025.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d0ee311cefbbf374080fc2ad6d643e9dc00a20eb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0025.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f70ee4aeb49e0c8951c386de36812741f4986469dcefc9db4004070d82c92e2d +size 10129362 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0026.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0026.h5 new file mode 100644 index 0000000000000000000000000000000000000000..487debcb3e1425052ebd909b937a6ff606e4fa74 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0026.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:64e7b5399903d3ec552ca66e0414ba27166e5294e1e2b58ad2c19c7236c7de9d +size 8993747 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0027.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0027.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b638d6b345f3357cdcecf2c8aff3904e7438f275 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0027.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6f88e91284ff299b99f3ef3604b039d8194266812f4751394a54d43e966f455b +size 10619502 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0028.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0028.h5 new file mode 100644 index 0000000000000000000000000000000000000000..babf4ea70cdc5cec28a79bd631d5586ee7028e6b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0028.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97e36f6928cc8a0d3b2b4b21cb423944b4072aefdd0c24ad8944d14707a9b4dd +size 12813763 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0029.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0029.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8f5d8cd4de5fcdf01b300bc8feddb8f232a25d3b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0029.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:80954cb18fdfdc46d99b2e479ca1c39af7f05ca83c402e36a61819ed314881a6 +size 9471937 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0030.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0030.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b7e431fbaeeac2778669b3f9d0f52624bc543105 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0030.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8f6c483b40363062f4fa160318208f946ffa85ba3f0c4b767e66adc636be365c +size 8285188 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0031.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0031.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a9c7c95ceac17551b77f0e3469258f451f3b1877 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0031.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:90990d5b909ea731513c9325116d9c447c7332dd06d7bc662900b1177a7e4fd1 +size 9008203 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0032.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0032.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c63773ee57d8dc1e3c4688d5540af88df88caf6e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0032.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3be1abb3f1fa22fbc6d898fbe81ff6167d2902636f605dbf0b614248742e647c +size 11501549 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0033.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0033.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e572151b30584ecce2e097cba1e73fc5ae1c95ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0033.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7b05cad6fc5390347d66823739021c943899a439166bce51d1f6008fdfe1d822 +size 12944518 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0034.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0034.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b14a0e19bcb2f52d930881ea5b328d1a70263be8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0034.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d0ab5ca59dcdc9e3de01b25fb46ae1b91696931a7fe4883feaa07b20fcb9665 +size 11065793 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0035.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0035.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f06e430c5777ddf50eb46975b2144bd48037d421 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0035.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ba1dc7508695380a0000bd165bbc8c051a68686986d996517b94e17a32e5d65e +size 11404763 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0036.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0036.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2901fe801aea29475ae509205a43a414f43c562e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0036.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ded6909c5cd8918cd07cd4cfd545ca0246b206b4160fc84f7473a6aeb17cd465 +size 9265454 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0037.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0037.h5 new file mode 100644 index 0000000000000000000000000000000000000000..14464f965244d707ac6ab8b183156470858381e1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0037.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2f76ea4c1ead6c0632a3c452d5ff0b759de81487215df22c95240c51a2db463 +size 7911568 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0038.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0038.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a81da655cac3ac5ad29898ea7653c290a09c317c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0038.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d0474e31ce52a847a3d2250adc4761ff572323d078dc571e52f130ac30f2de56 +size 11047779 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0039.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0039.h5 new file mode 100644 index 0000000000000000000000000000000000000000..92009e12373b82b67f96bbbac2d15e408b54bc52 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0039.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a6a10aef5147d94d5e419aede1ff3001c76bccbc9e91577101026fc5a0552edb +size 10665131 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0040.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0040.h5 new file mode 100644 index 0000000000000000000000000000000000000000..a7dbf8d0789713897eeb9a5012d41d6e0c017d79 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0040.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6edf92c1bda14395526547af5560b44e0aa71695c9d2d96e6b7e301b8ac44ff6 +size 12723450 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0041.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0041.h5 new file mode 100644 index 0000000000000000000000000000000000000000..f2b81b98b88261c143920b50a557dafc16a10410 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0041.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0d68a506541c5c9790cb3e0c9fa9a72190243cc8ffe410aa518b2dc65563f350 +size 10025252 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0042.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0042.h5 new file mode 100644 index 0000000000000000000000000000000000000000..82d6f797787109acf56a17494c3aa42d978a7f5f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0042.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:88c4dccec33f75a5fc8995d53ad05288a4ef34e0b37e4b7896c3170aa689cc44 +size 12331172 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0043.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0043.h5 new file mode 100644 index 0000000000000000000000000000000000000000..71ca4a0c4c0894669b3c5eb372899503f66f9428 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0043.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cde276e54674b09ad7b9930f23e077bea19bc91c41fec72dab055dfaeb132311 +size 12151077 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0044.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0044.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6e7b1eafffcf51f233cb22af2382a8bdd6583ab1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0044.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2e6313df2de8d5200dd73a6ebd2148948bbe89ab5de891470f32a43fe14caafd +size 11411108 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0045.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0045.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9b0162fdcd04ca5f492291addf6b1bbe5377aadc --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0045.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ff4a11e3e2261c01218cf99d4bff0e601a9851320eb00b3e9bbbd89ea74f1f48 +size 9964650 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0046.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0046.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dd545cab14790e9f71dba3148f717230f086eac1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0046.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d99e1d233b75994061744734997af66ef8ea8e4d31f0e1fdfa85ab750bc1b70c +size 9833146 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0047.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0047.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c473057f91d862de96ffdae2be70fb27ab65017a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0047.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37a90f900751bba521989e8738c2ce99520199c63071ad98911185c813f7bca5 +size 9403429 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0048.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0048.h5 new file mode 100644 index 0000000000000000000000000000000000000000..53f2cf44c251ce83c087b240cb4d77ec586625d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0048.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d93aa3d5a3ba166b3101b5121cec3570737ab870fb4add0f311237a36c214bd6 +size 9711609 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0049.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0049.h5 new file mode 100644 index 0000000000000000000000000000000000000000..dac79c4b7c8c4cf925e4137e362da4d0026b2d91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0049.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c0cbdedb8595c9fbeb40f4be5d4556b840afbd16a229b32c9d2930576555f2bc +size 10379519 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0050.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0050.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e2398c0f740821d8f2c899fac19374d952a94cac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0050.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0cc165d5deab545d6148e456b9b770c2146ff0e2ea920223d6098b96da9eca42 +size 11286394 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0051.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0051.h5 new file mode 100644 index 0000000000000000000000000000000000000000..223c27b49f83bb061682f8f77ca47049539f37ab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0051.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7161b67a06aa19cc7d11cd80ba3c75bd32e39e637e8452653990ea2e7590c0c0 +size 12906418 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0052.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0052.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ad6cd2d64be3ac36c716f8c19194a402c8009fe1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0052.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b2e3bc8ab336d07e786f4f71a5207fead6ea9df119c6feaa54e1930ff9e26d7d +size 11389705 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0053.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0053.h5 new file mode 100644 index 0000000000000000000000000000000000000000..e502d06f4d159d00ae75c9f476743e9f88157446 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0053.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e453836d5166de7bd03dda6fe40959a2df07b829597388e9fa16dd4c015daa4e +size 12835899 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0054.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0054.h5 new file mode 100644 index 0000000000000000000000000000000000000000..c114519f23e271777333de7e65fca51ce05d2296 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0054.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4703727df0d8818ea12a7d87eb24143c914b44b4d8350a0ecf20390ca4291ee7 +size 8471318 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0055.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0055.h5 new file mode 100644 index 0000000000000000000000000000000000000000..89530847c30b178a2f376d493adf29c309c16bde --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0055.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:3d3dbea671d1a5cd9ebd78e049269c3c8d4024d5a4925accc0fe50c2f6f9255b +size 9783370 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0056.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0056.h5 new file mode 100644 index 0000000000000000000000000000000000000000..44076fd6428bbd07439f80fd06f18b79aa6eee0e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0056.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:cea5698960967392c24b3fd5aa06a1ae19e3b036ef649b9030640c266307d926 +size 10149017 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0057.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0057.h5 new file mode 100644 index 0000000000000000000000000000000000000000..46f1822e3a9208e5733c3d899d123e24a32bae1f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0057.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:37bfe5edce1e486a5834856267b385e9cb48f74959a799817aad652915fff579 +size 10803599 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0058.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0058.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b19a6bf27f951ca7e01551c455ac8f1b19938f83 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0058.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8716cfcab7d11c18a86a6a11dcc844b937a4ffbb30c733a7f6576a669a07b2e9 +size 10183607 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0059.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0059.h5 new file mode 100644 index 0000000000000000000000000000000000000000..05fa3873673faf99596598628002e73be408c5fe --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0059.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8c9c63d606c1e0d30e2f1bc870f788eb6160674997d3314665732bd6defb01ab +size 9928825 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0060.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0060.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0e6565fe5b7e6efeea10d8914364ab1f2ef6e2bd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0060.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:640df1495175aa3499dfa07bab8a4eb01ce083e19c8b647c679253518d8947e4 +size 9299850 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0061.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0061.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b9f26fd9fd52705fc1d9172fbeff0d90ee2a6474 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0061.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:56c75d3df1de7aaebad0f0e1b2c5a62908e67dae93544c2a920cead82aee9f07 +size 11154893 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0062.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0062.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fb2f88f06babd897cebe6ce26f7c103c393ec33b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0062.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:bcd6356834969a16947825daad3ca26f9c18c7be2f0e1cbaae9ed4b25ffa14be +size 8450545 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0063.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0063.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ef3eb5ed7d413f36b3ea6b8a30ee5a00b2635292 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0063.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8765702227fa7791450a50dff67e4d2cd214d0d740b573914218d8d593fc8121 +size 14109548 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0064.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0064.h5 new file mode 100644 index 0000000000000000000000000000000000000000..960b61e90d0e1e9f492ab51f6f6d6bccdb923eb3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0064.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:a271f8fbed90792ed27abd4bf7ff390915aad5b139335f97902c68bb9b218faf +size 9112141 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0065.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0065.h5 new file mode 100644 index 0000000000000000000000000000000000000000..5cb92d6e6d02705ee2f0fd8b0da84af5e824c54e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0065.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:42a4caca2b7371ef9997799cc08d7e8e68c46fe91c90d5590b7198b27c54f05b +size 10037082 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0066.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0066.h5 new file mode 100644 index 0000000000000000000000000000000000000000..293e0d7968fecafc2a656b0955cb8724170b7b96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0066.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:26b90de480ae4b9dfb8f32735ce2582284710dd978034e1a9b2df3fc49d5a46a +size 10343015 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0067.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0067.h5 new file mode 100644 index 0000000000000000000000000000000000000000..9c5ffb1a84fe94777e1a2d263d01efbd9c561748 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0067.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:fc9c052d0106a865c7c77f18596090befc7fa892142502dda35a0ede62dce597 +size 12255065 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0068.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0068.h5 new file mode 100644 index 0000000000000000000000000000000000000000..8d860dc2f03214533f526c568b7d8f96d469c2c3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0068.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e084ce17ad752d199cabe6d2c7aa248224eb0e90dcfa071ddd553a158a6f6893 +size 7916638 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0069.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0069.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d1f0fa02f7f8acc98aea2e62eacf4aa5569721c7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0069.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c7826dd3e3bf931ea227d1483ea71c4a0190d1fd7a451601a921d932d6d23943 +size 11618704 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0070.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0070.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec13c76d1fe50da844e4aba70b79b0c5a82ee780 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0070.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b3464b7ac971b058a4b292298fcd43b8cb81655e3ad2da2d03a983e2d97493f7 +size 11559127 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0071.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0071.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3bf1e8c3da6e20cccca375295c7bea86679c5706 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0071.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:b4de3ad7f5500f3c92b5f52c14e7d707e35b15323cdf1aaef525f4538798c481 +size 9591550 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0072.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0072.h5 new file mode 100644 index 0000000000000000000000000000000000000000..0f9df67e43abcac06d3622170db42dcbdd8d939d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0072.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c9d3253ff14e9656a196077d8e13b275c7162486d577a05854a47b72bcbac4c1 +size 8351206 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0073.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0073.h5 new file mode 100644 index 0000000000000000000000000000000000000000..849efd1a50aac55f3b84623fbd57561b2bfbe65a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0073.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ca7c7c74eceaf4a0af0d7a2e797da48de1a7547213d31f38704b1de886a98874 +size 8665098 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0074.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0074.h5 new file mode 100644 index 0000000000000000000000000000000000000000..542f3531eae05af3f2f2c6049d6160781b4d193d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0074.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9b96ac773ee0e061fffae2973cdb3b91119ff8628e3feced94edd7fbc9b9259a +size 8987561 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0075.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0075.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3dfec8c760b4c6fa57d08e4cfa0526d2548ff2a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0075.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:0f8e07086eb7a267ba580fb6efa86fec5789c6dc949ac361b0cd529d8793585d +size 11782717 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0076.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0076.h5 new file mode 100644 index 0000000000000000000000000000000000000000..fc6731fe32c73838a06f67e255023f838c256943 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0076.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:8277e57ccfe9da3576306454a9ec38825cd9d8fbcf9314914308155da4fafe1e +size 9726879 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0077.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0077.h5 new file mode 100644 index 0000000000000000000000000000000000000000..78973912b29d243134318add928710d41c6d2021 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0077.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2eedfae63bb93bf5347cd4a625c7a4f80b48281047fa791f225aff9a973e1079 +size 8644084 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0079.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0079.h5 new file mode 100644 index 0000000000000000000000000000000000000000..15ecd262c3325c6142bc85f0594ac3d2db9f191d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0079.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9be533ee2a406e0407a41769b6a5fd0819846ba16209ddfa1a0c933d09f9a668 +size 11618131 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0080.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0080.h5 new file mode 100644 index 0000000000000000000000000000000000000000..38d09ee5cf8bad239f5c062eca52c63079b6d0b5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0080.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:f6489c45d58f3b8e5d33ea9ea6b866d2ed9e84946af9756a3657c02018f8ef08 +size 10505312 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0081.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0081.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d88c3986e4486f35f51bc7969196a51e87284f19 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0081.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:27f683aefc779da5cbb62d15742ca0b87ea1d7e403acecc52ab4f66fd88fbf57 +size 9017771 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0082.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0082.h5 new file mode 100644 index 0000000000000000000000000000000000000000..801c222fd992eba5bc92c0dacc8f02e9eb18182e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0082.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:c55c6b32ba19fe9c5cf251caa32cd1db59eb9425f474d5206c778732352944cb +size 12139259 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0083.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0083.h5 new file mode 100644 index 0000000000000000000000000000000000000000..afec3e541f1ed3ff507b8ff1f572a0e50f1768ac --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0083.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2454654a80d9f4ab3321afc2e3aae7512cd42a02730628ca5815730729c87501 +size 13688922 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0084.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0084.h5 new file mode 100644 index 0000000000000000000000000000000000000000..6b9c84cdc583c7aff25b337e425b7a7efd3ee404 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0084.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:1109bf1dac866d1ce2a902d03e29aece51386abf6df709746c67aa1d48c72151 +size 10364171 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0085.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0085.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4ab3c31e26b0056210696cf68769077852a391d2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0085.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ab4190409cf8ff761f147fe9aec37b540955191d8bbff5c16177f39e308f56d1 +size 8742287 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0086.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0086.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ee169bbc89ab1c6894d8f6b758d3e3b45b6405f4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0086.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:329c5ac1789c3a7bd7411beea80712406eedff873a0b8ba3bc2b273f946d7d4b +size 9937299 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0087.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0087.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2fa4af313175d1ad06f1a13da42ed4eec20a2858 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0087.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:9586c906ae82dd020194b351eb2947ff0da31d9a142fe51390faac95566e30ef +size 9786962 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0088.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0088.h5 new file mode 100644 index 0000000000000000000000000000000000000000..4c2420dd7bd434b0154b4742662552b40b6f888d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0088.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:179e015f8689ca1a4c66bd49ea4116eb1f42e01bd147891f80e66124d5f48b8a +size 12476625 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0089.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0089.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2cafd4b2c12815149c9553a68b6b46102dbc6c33 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0089.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:4ea238739564252caec5556649166139a1b9896c5768faf32c89af0338c044e1 +size 10422525 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0090.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0090.h5 new file mode 100644 index 0000000000000000000000000000000000000000..d3c8d6ff0049318915e918b6f3a734dbf78bc6e0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0090.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:2ff3c7e2858d75a11ee26536146a5d637a4b9780252725f7cb58c5a6cfe273de +size 12076958 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0091.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0091.h5 new file mode 100644 index 0000000000000000000000000000000000000000..1ea4cf7e4d59e0cbbd8a262a0e5c7ffff82ca466 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0091.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:47e0fe2fc40811face3e27e92d3a9a8993d80bddf346dbb9bbc1612fa4e96cdf +size 13261956 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0092.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0092.h5 new file mode 100644 index 0000000000000000000000000000000000000000..ec1989bf4ce3f312682c410f80ac827d3b4217b8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0092.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:ad68c071cbd1426b2c37fc4a10697d9cd7fceceaf7e434e9658e8121b24376b5 +size 9752711 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0093.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0093.h5 new file mode 100644 index 0000000000000000000000000000000000000000..234dc21aead60d0e2735f1adf99ab3538ac5b943 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0093.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:6fbc129bff5eb561d21e852a49452a752e4b0ec3194843b83322c4b87d8dfded +size 9170829 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0094.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0094.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3241e5a8be5fef919c9588bc8472238c1faffd60 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0094.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:d724bae891a66c0873dab56b8d1f3991d14c477a8d815e46355a2605abb5847a +size 10078148 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0095.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0095.h5 new file mode 100644 index 0000000000000000000000000000000000000000..126c7aeca644ff5a2d07e103707ed06675c01703 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0095.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:40fdb5eef3f60569e13207bb38175f2f5b3d6f0e3447e5093f7b8d8904244a30 +size 10192783 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0096.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0096.h5 new file mode 100644 index 0000000000000000000000000000000000000000..47ea263754ed8b4999d0ac563486e35304d30a8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0096.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:34a30a0d72ca4350ae581c4c74e0640259f01ef0dbb7e28e25c7a3b237dde4bb +size 9077594 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0097.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0097.h5 new file mode 100644 index 0000000000000000000000000000000000000000..2ddddd63fa85889fe9dc0db97258c8756449970b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0097.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:e7d428c50751f2983c237114c515e2802089dc4bd0a70462d91de026f452db26 +size 10576922 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0098.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0098.h5 new file mode 100644 index 0000000000000000000000000000000000000000..b8a51de77cd5f3baefc61f4f95a13f939ad16a91 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0098.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:7c90ae1164799bccf68ec9e2a76e1c2ddc247e3cadedb6bde8e1f246c2342436 +size 9863111 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0099.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0099.h5 new file mode 100644 index 0000000000000000000000000000000000000000..3e6fda0b7e78c8e48835c245ed7e3cabe0f785cd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0099.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:97405b68f911da50633045e88a03e9597cd2a7e2e49ab9f5574a8dc0e61d511b +size 11361489 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0100.h5 b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0100.h5 new file mode 100644 index 0000000000000000000000000000000000000000..aed27e90ff583e168408957d264401139f47b165 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0100.h5 @@ -0,0 +1,3 @@ +version https://git-lfs.github.com/spec/v1 +oid sha256:60e854c3186810c8527730aadaf3767ceee4b5b34a43815b30043a42a8c96543 +size 10337085 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/episode.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/episode.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..0ab3b0801fd1a224cb94f523b7cb5ea6c861873e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/episode.jsonl @@ -0,0 +1,100 @@ +{"episode_index":0,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2145,"success":true,"robot_type":"ur5e"} +{"episode_index":1,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2156,"success":true,"robot_type":"ur5e"} +{"episode_index":2,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2162,"success":true,"robot_type":"ur5e"} +{"episode_index":3,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2148,"success":true,"robot_type":"ur5e"} +{"episode_index":4,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2165,"success":true,"robot_type":"ur5e"} +{"episode_index":5,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2087,"success":true,"robot_type":"ur5e"} +{"episode_index":6,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2140,"success":true,"robot_type":"ur5e"} +{"episode_index":7,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2128,"success":true,"robot_type":"ur5e"} +{"episode_index":8,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2151,"success":true,"robot_type":"ur5e"} +{"episode_index":9,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2120,"success":true,"robot_type":"ur5e"} +{"episode_index":10,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2161,"success":true,"robot_type":"ur5e"} +{"episode_index":11,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2158,"success":true,"robot_type":"ur5e"} +{"episode_index":12,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2146,"success":true,"robot_type":"ur5e"} +{"episode_index":13,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2162,"success":true,"robot_type":"ur5e"} +{"episode_index":14,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":15,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2155,"success":true,"robot_type":"ur5e"} +{"episode_index":16,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2085,"success":true,"robot_type":"ur5e"} +{"episode_index":17,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2131,"success":true,"robot_type":"ur5e"} +{"episode_index":18,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2134,"success":true,"robot_type":"ur5e"} +{"episode_index":19,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2167,"success":true,"robot_type":"ur5e"} +{"episode_index":20,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2152,"success":true,"robot_type":"ur5e"} +{"episode_index":21,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2136,"success":true,"robot_type":"ur5e"} +{"episode_index":22,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2149,"success":true,"robot_type":"ur5e"} +{"episode_index":23,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2159,"success":true,"robot_type":"ur5e"} +{"episode_index":24,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2134,"success":true,"robot_type":"ur5e"} +{"episode_index":25,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2147,"success":true,"robot_type":"ur5e"} +{"episode_index":26,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2142,"success":true,"robot_type":"ur5e"} +{"episode_index":27,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2144,"success":true,"robot_type":"ur5e"} +{"episode_index":28,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2165,"success":true,"robot_type":"ur5e"} +{"episode_index":29,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2141,"success":true,"robot_type":"ur5e"} +{"episode_index":30,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2159,"success":true,"robot_type":"ur5e"} +{"episode_index":31,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2148,"success":true,"robot_type":"ur5e"} +{"episode_index":32,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2152,"success":true,"robot_type":"ur5e"} +{"episode_index":33,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2154,"success":true,"robot_type":"ur5e"} +{"episode_index":34,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2146,"success":true,"robot_type":"ur5e"} +{"episode_index":35,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2110,"success":true,"robot_type":"ur5e"} +{"episode_index":36,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2109,"success":true,"robot_type":"ur5e"} +{"episode_index":37,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":38,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2164,"success":true,"robot_type":"ur5e"} +{"episode_index":39,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2162,"success":true,"robot_type":"ur5e"} +{"episode_index":40,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2161,"success":true,"robot_type":"ur5e"} +{"episode_index":41,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2148,"success":true,"robot_type":"ur5e"} +{"episode_index":42,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2137,"success":true,"robot_type":"ur5e"} +{"episode_index":43,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2148,"success":true,"robot_type":"ur5e"} +{"episode_index":44,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2144,"success":true,"robot_type":"ur5e"} +{"episode_index":45,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2133,"success":true,"robot_type":"ur5e"} +{"episode_index":46,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2061,"success":true,"robot_type":"ur5e"} +{"episode_index":47,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2164,"success":true,"robot_type":"ur5e"} +{"episode_index":48,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2169,"success":true,"robot_type":"ur5e"} +{"episode_index":49,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2161,"success":true,"robot_type":"ur5e"} +{"episode_index":50,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2130,"success":true,"robot_type":"ur5e"} +{"episode_index":51,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2158,"success":true,"robot_type":"ur5e"} +{"episode_index":52,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2081,"success":true,"robot_type":"ur5e"} +{"episode_index":53,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":54,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2122,"success":true,"robot_type":"ur5e"} +{"episode_index":55,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2115,"success":true,"robot_type":"ur5e"} +{"episode_index":56,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2151,"success":true,"robot_type":"ur5e"} +{"episode_index":57,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2154,"success":true,"robot_type":"ur5e"} +{"episode_index":58,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2144,"success":true,"robot_type":"ur5e"} +{"episode_index":59,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2164,"success":true,"robot_type":"ur5e"} +{"episode_index":60,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2157,"success":true,"robot_type":"ur5e"} +{"episode_index":61,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":62,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2161,"success":true,"robot_type":"ur5e"} +{"episode_index":63,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2144,"success":true,"robot_type":"ur5e"} +{"episode_index":64,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2115,"success":true,"robot_type":"ur5e"} +{"episode_index":65,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2129,"success":true,"robot_type":"ur5e"} +{"episode_index":66,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2150,"success":true,"robot_type":"ur5e"} +{"episode_index":67,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2150,"success":true,"robot_type":"ur5e"} +{"episode_index":68,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2159,"success":true,"robot_type":"ur5e"} +{"episode_index":69,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2151,"success":true,"robot_type":"ur5e"} +{"episode_index":70,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2074,"success":true,"robot_type":"ur5e"} +{"episode_index":71,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2154,"success":true,"robot_type":"ur5e"} +{"episode_index":72,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2155,"success":true,"robot_type":"ur5e"} +{"episode_index":73,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2177,"success":true,"robot_type":"ur5e"} +{"episode_index":74,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2121,"success":true,"robot_type":"ur5e"} +{"episode_index":75,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2155,"success":true,"robot_type":"ur5e"} +{"episode_index":76,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2139,"success":true,"robot_type":"ur5e"} +{"episode_index":77,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2128,"success":true,"robot_type":"ur5e"} +{"episode_index":79,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2167,"success":true,"robot_type":"ur5e"} +{"episode_index":80,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2169,"success":true,"robot_type":"ur5e"} +{"episode_index":81,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2108,"success":true,"robot_type":"ur5e"} +{"episode_index":82,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2148,"success":true,"robot_type":"ur5e"} +{"episode_index":83,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2136,"success":true,"robot_type":"ur5e"} +{"episode_index":84,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2155,"success":true,"robot_type":"ur5e"} +{"episode_index":85,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2086,"success":true,"robot_type":"ur5e"} +{"episode_index":86,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2173,"success":true,"robot_type":"ur5e"} +{"episode_index":87,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2140,"success":true,"robot_type":"ur5e"} +{"episode_index":88,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":89,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2157,"success":true,"robot_type":"ur5e"} +{"episode_index":90,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2152,"success":true,"robot_type":"ur5e"} +{"episode_index":91,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2153,"success":true,"robot_type":"ur5e"} +{"episode_index":92,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2109,"success":true,"robot_type":"ur5e"} +{"episode_index":93,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2145,"success":true,"robot_type":"ur5e"} +{"episode_index":94,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2160,"success":true,"robot_type":"ur5e"} +{"episode_index":95,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2126,"success":true,"robot_type":"ur5e"} +{"episode_index":96,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2174,"success":true,"robot_type":"ur5e"} +{"episode_index":97,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2127,"success":true,"robot_type":"ur5e"} +{"episode_index":98,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2152,"success":true,"robot_type":"ur5e"} +{"episode_index":99,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2175,"success":true,"robot_type":"ur5e"} +{"episode_index":100,"tasks":["Pick up beaker b from home. Pour beaker b into beaker a and return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker a on the heater platform. Press the heater button to start heating."],"length":2157,"success":true,"robot_type":"ur5e"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/randomization_episodes.jsonl b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/randomization_episodes.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..27b7f7cc5964a66ecbdb8025c1b38bb0b0290f80 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/meta/randomization_episodes.jsonl @@ -0,0 +1,100 @@ +{"episode_id":"ep_000000","started_at":"2026-09-06T10:41:44","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_0","position":[-0.1491337076326218,0.2628480814193357,0.71338606911949],"aabb_xy":[[-0.1992311716136954,0.19884808090952388],[-0.09903624365154817,0.3268480819291475]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.019694767576733274,-1.7023789437476928,0.71338606911949],"aabb_xy":[[-0.032566671077673415,-1.782378944161529],[-0.006822864075793136,-1.6223789433338567]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.40228647690060004,-1.9975434483436398,0.71338606911949],"aabb_xy":[[0.3840806532393524,-2.0085688489256315],[0.4204923005618478,-1.9865180477616484]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[0.38440601806681407,0.8872818372443758,0.71338606911949],"aabb_xy":[[0.38027016173411393,0.849781837800019],[0.3885418743995143,0.924781836688733]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_4","position":[0.3851427868353374,-1.3442741210097555,0.71338606911949],"aabb_xy":[[0.3684656508422419,-1.3609740449836856],[0.40181992282843293,-1.327574197035825]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_5","position":[-0.10197100997921749,-2.5508942452665853,0.71338606911949],"aabb_xy":[[-0.10793754891995326,-2.556855389925949],[-0.09600447103848168,-2.5449331006072207]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_6","position":[-0.1357874797099916,0.9939386197671523,0.71338606911949],"aabb_xy":[[-0.19978748138798894,0.9454212282878379],[-0.07178747803199423,1.0424560112464665]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[-0.5802437964572578,-0.4992287042414114,0.71338606911949],"aabb_xy":[[-0.6352437956338473,-0.5542183790163691],[-0.5252437972806683,-0.4442390294664537]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[0.11411820708136289,1.0932798629758635,0.71338606911949],"aabb_xy":[[0.03411820600824256,1.0835018166384793],[0.19411820815448322,1.1030579093132482]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[-0.011543717296131573,0.8454313629248698,0.71338606911949],"aabb_xy":[[-0.10154371403174178,0.7922478996075751],[0.07845627943947864,0.8986148262421642]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.2962960354045429,-1.5638621083637674,0.71338606911949],"aabb_xy":[[-0.304289525199825,-1.5718602403042434],[-0.28830254560926094,-1.5558639764232922]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_11","position":[0.16125909460919496,-0.6597422176297005,0.71338606911949],"aabb_xy":[[0.09725909131948686,-0.703077136633618],[0.22525909789890308,-0.6164072986257828]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[0.4586664842202157,0.42357260003247177,0.71338606911949],"aabb_xy":[[0.39707572499622296,0.35957260192342494],[0.5202572434442085,0.4875725981415187]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_13","position":[0.4854707846303461,-0.6013327428961024,0.71338606911949],"aabb_xy":[[0.39547078490717186,-0.6244060954312821],[0.5754707843535202,-0.5782593903609224]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.47570216195439186,-2.3721907239609674,0.71338606911949],"aabb_xy":[[-0.481160107591412,-2.4521907272686265],[-0.47024421631737184,-2.2921907206533083]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_15","position":[-0.6309088049830369,1.7380426457590876,0.71338606911949],"aabb_xy":[[-0.6483395200620433,1.7207705310952364],[-0.6134780899040303,1.755314760422938]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_16","position":[-0.3812083192695096,-0.1501922373805935,0.71338606911949],"aabb_xy":[[-0.3861643394543909,-0.17269223758271515],[-0.37625229908462854,-0.12769223717847192]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_17","position":[0.24384161307134555,-2.4565709745236908,0.71338606911949],"aabb_xy":[[0.2313742549616099,-2.4690362991570147],[0.2563089711810812,-2.4441056498903677]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_18","position":[-0.4952932643211325,0.3103239493377177,0.71338606911949],"aabb_xy":[[-0.5327932658367642,0.29909717632157257],[-0.4577932628055008,0.3215507223538627]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_19","position":[-0.2793335666114533,0.12337750637102074,0.71338606911949],"aabb_xy":[[-0.299617869334852,0.10309488122831188],[-0.2590492638880545,0.14366013151372956]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_20","position":[-0.10369132845476114,-0.5960348484442324,0.71338606911949],"aabb_xy":[[-0.13960483287975084,-0.631948356660987],[-0.06777782402977146,-0.5601213402274777]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_21","position":[-0.4615916666209203,-1.078220193819135,0.71338606911949],"aabb_xy":[[-0.49909166696914803,-1.0900115894002183],[-0.4240916662726925,-1.0664287982380511]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.5995719265380883,-1.1214103953188463,0.71338606911949],"aabb_xy":[[0.5796808866577482,-1.1340662066035434],[0.6194629664184287,-1.1087545840341497]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_23","position":[0.46745493057384424,-0.04271102209829358,0.71338606911949],"aabb_xy":[[0.46302430121900406,-0.04815939383297618],[0.4718855599286844,-0.03726265036361098]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_24","position":[-0.42508333264582643,-2.004094141817208,0.71338606911949],"aabb_xy":[[-0.4890833297579321,-2.0531265116116186],[-0.36108333553372074,-1.9550617720227974]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_25","position":[-0.4687746393116696,-1.8633627327434494,0.71338606911949],"aabb_xy":[[-0.49127463955518497,-1.8755673674032216],[-0.4462746390681542,-1.8511580980836777]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6966215357100741,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3661.png","name":"3661"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3661.png","name":"3661"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8826.png","name":"8826"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4191.png","name":"4191"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7122.png","name":"7122"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5738.png","name":"5738"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":821.7554597948572,"rotation_z_degrees":73.9970214263901,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017100724931408216,0.0021262923251332937,-0.01713474375870112]},{"name":"camera_2","offset_m":[-0.013515693278564389,-0.012318171103141387,0.018461677321349786]},{"name":"camera_3","offset_m":[-0.0039024328112714605,0.0015933799516668831,0.014661505470387953]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015593464215096138,-0.001327992942676162,-0.0012194148610937187],"end_effector_yaw_offset_degrees":0.25175684076473526},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0006505731071727808,-0.000768103244872676,0.0011425369666942962],"end_effector_yaw_offset_degrees":-0.13803495354574657},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013443700720944195,0.0006981421067517694,-0.0017821741189099753],"end_effector_yaw_offset_degrees":0.6805297710701601},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010108226015180155,-0.0004730710932591049,-0.0018553148738478722],"end_effector_yaw_offset_degrees":-0.4035344074313052},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.000297700149760161,0.0014915990838082244,-0.00043382515558591903],"end_effector_yaw_offset_degrees":0.9648903600412659},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017226409150175258,0.0007080643873167243,0.0005689204705359324],"end_effector_yaw_offset_degrees":-0.5835804480811682}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002914257142628589,-0.0016158022829118857],"position_m":[0.3170857428573714,0.35148419771708816,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00026710259960521093,-0.0008031981779990172],"position_m":[0.1802671025996052,-0.034403198177999014,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0032506374144996887,-0.0001672989234891096],"position_m":[0.2687493625855003,-0.3674672989234891,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0030165554551407937,-0.003383641879718623],"position_m":[0.33548344454485923,0.10511635812028138,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3dd8747657dd856beed4530273ea13a19c62bdd3fc8a0566ae293f62ae41b2c5","episode_index":0,"episode_name":"episode_0000"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0000.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_3661/tex_ceiling_textures_5738/tex_floor_textures_7122/tex_table_textures_8826/tex_wall_textures_4191","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5390307978520369538,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5390307978520369538,"visual_seed":5390307978520369538,"scene_id":"lab_003","finished_at":"2026-09-06T10:48:07"} +{"episode_id":"ep_000001","started_at":"2026-09-06T10:48:16","dimensions":{"distractor":{"count":32,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.20313586694482344,1.702372832964405,0.71338606911949],"aabb_xy":[[0.19609555701128648,1.6223728335647338],[0.21017617687836046,1.7823728323640766]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_1","position":[0.3694020728208445,-1.4690591302718632,0.71338606911949],"aabb_xy":[[0.3319020713052127,-1.480285903288008],[0.4069020743364761,-1.457832357255718]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_2","position":[-0.24323836886711386,1.2402529559624647,0.71338606911949],"aabb_xy":[[-0.2661540817521638,1.2173486588260412],[-0.220322655982064,1.2631572530988882]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_3","position":[0.637013167523159,-0.6176944274205507,0.71338606911949],"aabb_xy":[[0.6329350096161093,-0.6217754076688141],[0.6410913254302086,-0.6136134471722875]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_4","position":[-0.2929456686767185,-0.27110932706175506,0.71338606911949],"aabb_xy":[[-0.3132299714001172,-0.29139195220446384],[-0.2726613659533197,-0.25082670191904616]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_5","position":[-0.5687648778228025,-0.7530763424377678,0.71338606911949],"aabb_xy":[[-0.6587648801568216,-0.8305586970228805],[-0.47876487548878344,-0.6755939878526552]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_6","position":[0.01612310212842072,-1.6489195163975665,0.71338606911949],"aabb_xy":[[-0.06759912337166174,-1.7389195199322625],[0.09984532762850318,-1.5589195128628706]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[-0.6215146700041496,-1.2674555527682576,0.71338606911949],"aabb_xy":[[-0.6565146691969678,-1.27842259876592],[-0.5865146708113312,-1.2564885067705944]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_8","position":[0.27494801288880455,0.7275148800453888,0.71338606911949],"aabb_xy":[[0.2109480114808139,0.6757259285214641],[0.3389480142967952,0.7793038315693135]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_9","position":[0.022751099915505058,-1.9958652113287834,0.71338606911949],"aabb_xy":[[0.014053137624789772,-2.007990185636258],[0.03144906220622035,-1.9837402370213084]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_10","position":[0.12699243411376682,1.0622254460439584,0.71338606911949],"aabb_xy":[[0.08949243344918813,1.046538388043736],[0.16449243477834552,1.0779125040441804]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_11","position":[-0.3572234714593756,0.16596791027391777,0.71338606911949],"aabb_xy":[[-0.3742335687494262,0.14983342177564382],[-0.3402133741693249,0.18210239877219167]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_12","position":[-0.6283053872909948,-1.6611604960144573,0.71338606911949],"aabb_xy":[[-0.6409080864280713,-1.6737558922393228],[-0.6157026881539184,-1.6485650997895918]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_13","position":[0.2419111965307802,-2.5368307794449487,0.71338606911949],"aabb_xy":[[0.1519111971124093,-2.5702062762891384],[0.3319111959491511,-2.503455282600759]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_14","position":[0.6350887070375699,1.0727975416124362,0.71338606911949],"aabb_xy":[[0.6311282232678356,1.0651296770269156],[0.6390491908073043,1.0804654061979568]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_15","position":[0.4177600214071322,1.5724483457197036,0.71338606911949],"aabb_xy":[[0.38026002061513675,1.5660805047615132],[0.45526002219912765,1.5788161866778936]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.2517463787350259,0.45786846370831924,0.71338606911949],"aabb_xy":[[-0.33174637613861924,0.3778758925101363],[-0.1717463813314324,0.5378610349065018]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_17","position":[-0.4808694919537886,1.646217795559204,0.71338606911949],"aabb_xy":[[-0.48696411984190696,1.6376484010075352],[-0.4747748640656703,1.6547871901108726]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.33956919937536867,-1.6644548822368992,0.71338606911949],"aabb_xy":[[0.2595692007184827,-1.6789597411611623],[0.41956919803225473,-1.6499500233126365]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.6474921606697077,0.2734716591481692,0.71338606911949],"aabb_xy":[[0.6175004979358374,0.24347165981136865],[0.677483823403578,0.3034716584849697]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_20","position":[-0.38838105523671174,-0.0334965791357007,0.71338606911949],"aabb_xy":[[-0.4378614764506706,-0.09749657704855252],[-0.338900634022753,0.030503418777151126]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[-0.14162696267735675,1.6404066277736287,0.71338606911949],"aabb_xy":[[-0.17754046710234644,1.6044931195568741],[-0.10571345825236707,1.6763201359903832]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_22","position":[0.500638752522262,-1.6166341756847398,0.71338606911949],"aabb_xy":[[0.48300591692873435,-1.6342571217003627],[0.5182715881157894,-1.5990112296691168]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_23","position":[0.15440450268243244,1.544756537626299,0.71338606911949],"aabb_xy":[[0.14355289643355684,1.5338972468986478],[0.16525610893130804,1.5556158283539498]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_24","position":[0.1736526668628603,-1.6740115825957669,0.71338606911949],"aabb_xy":[[0.14017349960181938,-1.707490695966874],[0.20713183412390127,-1.6405324692246601]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_25","position":[0.08334595111947019,-0.8819429352917763,0.71338606911949],"aabb_xy":[[0.07210089554885235,-0.8931847330158714],[0.09459100669008802,-0.8707011375676809]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_26","position":[-0.42617502096421417,-1.1761445807545525,0.71338606911949],"aabb_xy":[[-0.5161750176998243,-1.229328044071847],[-0.33617502422860396,-1.122961117437258]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_27","position":[-0.22497614679571615,-2.333327161213623,0.71338606911949],"aabb_xy":[[-0.24486718667605642,-2.34598297249832],[-0.20508510691537593,-2.320671349928926]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_28","position":[0.49664595835438385,-2.254539785076776,0.71338606911949],"aabb_xy":[[0.439015489467113,-2.314539784003486],[0.5542764272416547,-2.194539786150065]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_29","position":[-0.4281062423664052,-1.670898427498201,0.71338606911949],"aabb_xy":[[-0.4377378785868348,-1.68053574027791],[-0.4184746061459756,-1.6612611147184921]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_30","position":[-0.3108589709431806,-1.876713316843118,0.71338606911949],"aabb_xy":[[-0.3387040077237878,-1.9074978155814295],[-0.28301393416257353,-1.8459288181048061]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_31","position":[0.49870108444289096,-1.5384141174989452,0.71338606911949],"aabb_xy":[[0.4867683500810629,-1.5507962703068048],[0.510633818804719,-1.526031964691086]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701773325987491,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2419.png","name":"2419"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2419.png","name":"2419"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5038.png","name":"5038"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8571.png","name":"8571"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5100.png","name":"5100"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":733.6102535195346,"rotation_z_degrees":286.0853267221782,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009805567927569304,-0.015138804320898501,0.014176510882317184]},{"name":"camera_2","offset_m":[0.01034890102938086,-0.013015821866272752,0.014161034364860135]},{"name":"camera_3","offset_m":[-0.015653439786513745,0.0045609502647755915,-0.010429501392002676]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014554684791746814,-0.001397622362679372,0.0007796362535406128],"end_effector_yaw_offset_degrees":0.9127410158361231},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[9.919622328461017e-05,0.0007436663979740197,-0.0002443677343570202],"end_effector_yaw_offset_degrees":-0.3882533622089648},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0015518320875775214,-0.0004690513892696747,0.0005805595145806359],"end_effector_yaw_offset_degrees":-0.46050527268436214},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001626540727102424,0.00020306498533073777,0.00047945068947355006],"end_effector_yaw_offset_degrees":0.3367706058864479},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009878223960504153,0.0007193588075961,-0.0017229310328192092],"end_effector_yaw_offset_degrees":0.007253603605066106},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-8.852381594562603e-05,-0.0008723567872307725,-0.0015576718905502723],"end_effector_yaw_offset_degrees":-0.446111785206307}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.000783527885037905,0.004743562072187866],"position_m":[0.3192164721149621,0.35784356207218787,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027365600391002906,0.004767361912507891],"position_m":[0.18273656003910027,-0.028832638087492108,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004816932619844881,0.003126388056477066],"position_m":[0.2768169326198449,-0.36417361194352293,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002014022494074669,-0.0033013843078825845],"position_m":[0.3405140224940747,0.10519861569211741,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e7cf868a6b3be652556426a9f4ae404507b78465c1d62c9c63f28e20ea168af","episode_index":1,"episode_name":"episode_0001"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0001.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2419/tex_ceiling_textures_5100/tex_floor_textures_8571/tex_table_textures_9723/tex_wall_textures_5038","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1222969879273666993,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1222969879273666993,"visual_seed":1222969879273666993,"scene_id":"lab_003","finished_at":"2026-09-06T10:55:24"} +{"episode_id":"ep_000002","started_at":"2026-09-06T10:55:31","dimensions":{"distractor":{"count":21,"items":[{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_0","position":[0.2783527511544557,-2.030693628093633,0.71338606911949],"aabb_xy":[[0.2605592442195392,-2.0484933736894306],[0.29614625808937206,-2.0128938824978353]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.31659604351776083,1.297888915977825,0.71338606911949],"aabb_xy":[[0.24659604138633123,1.2751269503521294],[0.3865960456491903,1.3206508816035207]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_2","position":[0.14857203626314652,1.7109215777789495,0.71338606911949],"aabb_xy":[[0.1405780476854431,1.7029214976838591],[0.1565660248408499,1.7189216578740398]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.5998291826934112,-1.591375261117911,0.71338606911949],"aabb_xy":[[-0.6124559699806075,-1.6009213348194837],[-0.5872023954062148,-1.581829187416338]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_4","position":[0.4704134602090324,-2.496914427028517,0.71338606911949],"aabb_xy":[[0.46026044465488286,-2.5329839686012567],[0.4805664757631816,-2.460844885455776]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_5","position":[-0.2888603801712381,0.8179528809683161,0.71338606911949],"aabb_xy":[[-0.29299623650393836,0.7804528815239592],[-0.28472452383853797,0.8554528804126732]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_6","position":[-0.39596181213054493,0.6570806580397073,0.71338606911949],"aabb_xy":[[-0.41287254456688666,0.6436084524470926],[-0.3790510796942031,0.6705528636323217]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_7","position":[-0.22458203591229703,-0.5190159922236002,0.71338606911949],"aabb_xy":[[-0.24208196934628037,-0.5365159921438346],[-0.20708210247831363,-0.5015159923033655]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_8","position":[0.6093047915062577,0.9951796294282818,0.71338606911949],"aabb_xy":[[0.5768430906243301,0.9650467973133791],[0.6417664923881851,1.0253124615431841]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_9","position":[0.5218159085013823,-1.1284568471429912,0.71338606911949],"aabb_xy":[[0.44181590742826193,-1.1382348934803757],[0.6018159095745026,-1.1186788008056068]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[0.09025042677791006,-1.0401904419739996,0.71338606911949],"aabb_xy":[[0.07035938689756982,-1.0528462532586966],[0.11014146665825032,-1.027534630689303]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_11","position":[0.5153780245065656,0.4906688889041586,0.71338606911949],"aabb_xy":[[0.45037802447226283,0.44396821222383137],[0.5803780245408683,0.5373695655844859]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_12","position":[-0.5758111779638019,1.470862982081298,0.71338606911949],"aabb_xy":[[-0.6307849000001349,1.415862982517065],[-0.5208374559274691,1.5258629816455314]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_13","position":[0.6639845793949108,-2.5439830476327003,0.71338606911949],"aabb_xy":[[0.6302090202042179,-2.5580215428458652],[0.6977601385856038,-2.5299445524195354]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[0.5245376643735955,-1.6717633442363056,0.71338606911949],"aabb_xy":[[0.5164099761802823,-1.6806769526470136],[0.5326653525669087,-1.662849735825598]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_15","position":[0.06644638971432959,-2.3541769637679795,0.71338606911949],"aabb_xy":[[-0.013553610559277394,-2.4271265115936957],[0.14644638998793655,-2.2812274159422623]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.5066145108245119,-2.1692386734368307,0.71338606911949],"aabb_xy":[[0.4701186901972332,-2.205722615863588],[0.5431103314517907,-2.1327547310100727]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_17","position":[-0.5411821764759625,-2.0561793335362197,0.71338606911949],"aabb_xy":[[-0.5647672999398574,-2.1211793357816515],[-0.5175970530120677,-1.991179331290788]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_18","position":[-0.03638022972855581,0.9625089717633455,0.71338606911949],"aabb_xy":[[-0.05888023024059641,0.940017113397947],[-0.013880229216515216,0.9850008301287437]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[-0.4410019663045385,-0.18198931803373108,0.71338606911949],"aabb_xy":[[-0.44590125861110186,-0.20966623733629985],[-0.43610267399797487,-0.15431239873116231]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_20","position":[0.5037408212761805,-1.3731469037864434,0.71338606911949],"aabb_xy":[[0.46624082133241407,-1.38143999382128],[0.5412408212199469,-1.3648538137516069]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7037612659881289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8538.png","name":"8538"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8538.png","name":"8538"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1587.png","name":"1587"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5814.png","name":"5814"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/299.png","name":"299"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1620.png","name":"1620"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":516.2309186184159,"rotation_z_degrees":78.74683230125781,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0018213371391494482,0.007833234565973578,-0.017967842514562127]},{"name":"camera_2","offset_m":[-0.005120442941742938,0.01795976648227553,0.009257115060399623]},{"name":"camera_3","offset_m":[-0.008812655900232539,-0.01471018316976096,-0.0014075576227297326]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008013295519435947,0.0017287369992091068,-0.0019235229269583779],"end_effector_yaw_offset_degrees":0.8561223241281117},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00016942542712020548,0.0013730589930875895,0.00017804294394351168],"end_effector_yaw_offset_degrees":0.5152413834502612},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010279437862447784,-0.00172731783603493,0.0005726073594647866],"end_effector_yaw_offset_degrees":-0.7711957001555039},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012923025379982804,0.0007852311970628976,0.0011450849883728061],"end_effector_yaw_offset_degrees":0.5568471173818095},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004687987142420354,-0.0014554280428240337,0.0017908177355409646],"end_effector_yaw_offset_degrees":0.2839589805526992},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005246188759946034,-0.0017060074617164577,0.0012306800475742488],"end_effector_yaw_offset_degrees":0.999569668631346}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0012419567188620396,8.912787113696512e-05],"position_m":[0.318758043281138,0.353189127871137,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030940403416317786,0.004789006335778514],"position_m":[0.17690595965836822,-0.028810993664221483,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004359187171790408,-0.0014349226923477056],"position_m":[0.2763591871717904,-0.3687349226923477,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0043606731530901124,-0.0014807667771483523],"position_m":[0.3341393268469099,0.10701923322285165,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b772a1a1c9ad4911211bd7fc3db1c19ca53e3d9f38848ee2a8f7f073d7c4e102","episode_index":2,"episode_name":"episode_0002"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0002.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8538/tex_ceiling_textures_1620/tex_floor_textures_299/tex_table_textures_1587/tex_wall_textures_5814","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":208328135617408331,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":208328135617408331,"visual_seed":208328135617408331,"scene_id":"lab_003","finished_at":"2026-09-06T11:02:04"} +{"episode_id":"ep_000003","started_at":"2026-09-06T11:02:12","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_0","position":[0.3119799209199421,-2.2557479156423095,0.71338606911949],"aabb_xy":[[0.2479799195119514,-2.3075368671662337],[0.3759799223279327,-2.2039589641183843]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_1","position":[0.09788579429907818,-1.5164876435946917,0.71338606911949],"aabb_xy":[[0.08473454832778882,-1.5414876433513787],[0.11103704027036755,-1.4914876438380054]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_2","position":[0.4152394409644873,1.6931463947165004,0.71338606911949],"aabb_xy":[[0.3602439631438279,1.6381463932825933],[0.47023491878514667,1.7481463961504071]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.42358348796707834,1.2069799566450432,0.71338606911949],"aabb_xy":[[0.3385834895496551,1.1221056611827582],[0.5085834863845016,1.2918542521073282]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_4","position":[0.6777092298617604,-0.9592712770071052,0.71338606911949],"aabb_xy":[[0.6607984974254185,-0.9727434825997197],[0.6946199622981021,-0.9457990714144906]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_5","position":[0.6251470218897675,0.30135499778207153,0.71338606911949],"aabb_xy":[[0.6198094462237629,0.27635499685293174],[0.630484597555772,0.3263549987112113]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_6","position":[-0.4332187338233861,1.2607160554363217,0.71338606911949],"aabb_xy":[[-0.4419166961141014,1.248591081128847],[-0.4245207715326708,1.2728410297437964]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_7","position":[-0.031458004212730595,-1.445382668329447,0.71338606911949],"aabb_xy":[[-0.09545800655553215,-1.4903235195735793],[0.032541998130070963,-1.4004418170853143]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_8","position":[0.5614211997183285,-0.7868429539611563,0.71338606911949],"aabb_xy":[[0.5505695934694529,-0.7977022446888073],[0.5722728059672041,-0.7759836632335053]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[-0.14170580800351917,-1.6030231473640062,0.71338606911949],"aabb_xy":[[-0.2217058112675323,-1.6165831796729195],[-0.06170580473950604,-1.5894631150550929]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_10","position":[-0.548456493372651,-0.5806826358685822,0.71338606911949],"aabb_xy":[[-0.6124564906582997,-0.622189354821426],[-0.48445649608700236,-0.5391759169157381]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_11","position":[0.4349697519468674,0.8795052003073343,0.71338606911949],"aabb_xy":[[0.41746975168753075,0.8654136581185617],[0.452469752206204,0.893596742496107]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_12","position":[-0.3768617469973316,-0.9049331876607549,0.71338606911949],"aabb_xy":[[-0.3821942616519446,-0.9102575159059906],[-0.3715292323427186,-0.8996088594155195]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.354943297906986,-0.9679494675228881,0.71338606911949],"aabb_xy":[[0.2899432952691925,-1.0194290662223353],[0.41994330054477946,-0.9164698688234413]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_14","position":[-0.5215972620977202,0.22360043018699827,0.71338606911949],"aabb_xy":[[-0.6015972623713272,0.15065088236128155],[-0.44159726182411324,0.296549978012715]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_15","position":[0.020035565672403055,-2.2998277967691676,0.71338606911949],"aabb_xy":[[-0.044964434361899674,-2.3465284734494953],[0.08503556570670578,-2.2531271200888408]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_16","position":[-0.6180134137225094,-0.9921567083873846,0.71338606911949],"aabb_xy":[[-0.6220915716295592,-0.9962376886356479],[-0.6139352558154596,-0.9880757281391213]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_17","position":[-0.26872067837819436,-1.892839882785569,0.71338606911949],"aabb_xy":[[-0.28389284765982775,-1.9080087397137722],[-0.25354850909656107,-1.8776710258573654]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_18","position":[-0.37818072211563775,-0.28493090111420294,0.71338606911949],"aabb_xy":[[-0.4581807242784002,-0.3648860847403465],[-0.2981807199528752,-0.20497571748805926]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_19","position":[0.24294375227870524,-1.1958449374635283,0.71338606911949],"aabb_xy":[[0.23748580664168517,-1.2758449407711874],[0.2484016979157253,-1.1158449341558692]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_20","position":[0.6182935593729535,-0.21015072316035166,0.71338606911949],"aabb_xy":[[0.5944573417323484,-0.30015072396883824],[0.6421297770135586,-0.12015072235186525]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_21","position":[0.5928406864199014,-1.69733307567647,0.71338606911949],"aabb_xy":[[0.5583782084068135,-1.7039967528593924],[0.6273031644329891,-1.690669398493547]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_22","position":[-0.5984576342114813,-0.06114909829179371,0.71338606911949],"aabb_xy":[[-0.6236784710713209,-0.08637284914468046],[-0.5732367973516416,-0.03592534743890696]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_23","position":[-0.2536191508347962,-2.2616224989436255,0.71338606911949],"aabb_xy":[[-0.3035018477124924,-2.3116224981899003],[-0.2037364539571,-2.211622499697351]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.12548044284661652,-0.8674929284894128,0.71338606911949],"aabb_xy":[[0.08798044267474456,-0.9001936638723198],[0.16298044301848844,-0.8347921931065054]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[-0.4763696793456367,1.3988280460434543,0.71338606911949],"aabb_xy":[[-0.49404530993423507,1.3811478297640516],[-0.4586940487570384,1.416508262322857]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_26","position":[-0.5490927978972672,0.371466162608622,0.71338606911949],"aabb_xy":[[-0.564195099358285,0.35636464097756004],[-0.5339904964362489,0.3865676842396837]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_27","position":[0.06244041923429944,-2.4157386500891294,0.71338606911949],"aabb_xy":[[0.05159994100778452,-2.432924931379778],[0.07328089746081433,-2.3985523687984807]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[0.24560559515666025,1.7795829681326665,0.71338606911949],"aabb_xy":[[0.2280272929677134,1.7620084785585617],[0.2631838973456071,1.7971574577067717]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7048308949152494,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2328.png","name":"2328"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4796.png","name":"4796"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6868.png","name":"6868"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1799.png","name":"1799"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6995.png","name":"6995"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":705.8757231752895,"rotation_z_degrees":145.06026763170527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015644143086433127,0.005586691429660801,-0.018599412685952395]},{"name":"camera_2","offset_m":[-0.016333768462405546,-0.002271887493128441,-0.013484194374548394]},{"name":"camera_3","offset_m":[0.0036466718449307753,-0.011556502695169932,0.014206282300590057]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00041182618718348953,0.0005113777848712131,0.0009606106672145915],"end_effector_yaw_offset_degrees":0.604599402097584},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0012998070661811494,0.0005663284924043947,-0.0006291280124507432],"end_effector_yaw_offset_degrees":0.15829376677293117},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001998107981156293,0.0019297713824231013,-0.0007887740753591626],"end_effector_yaw_offset_degrees":-0.22064561690393614},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016900272296706228,-0.0005287374937402408,-0.0003179308962787161],"end_effector_yaw_offset_degrees":0.05293184253691163},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013206097911606736,0.001430332166481424,-0.0017249276388937745],"end_effector_yaw_offset_degrees":0.9522557168328962},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00010718500935189652,-8.222356350281903e-05,0.00014416928021028725],"end_effector_yaw_offset_degrees":-0.6158647244890814}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0032165812960573484,-0.002680180852758134],"position_m":[0.31678341870394267,0.3504198191472419,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0004967840928115372,0.003306034536213062],"position_m":[0.18049678409281153,-0.030293965463786935,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004673497549559401,-0.0029636645732271172],"position_m":[0.27667349754955944,-0.3702636645732271,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004939401050426694,0.0012262788931614284],"position_m":[0.33356059894957335,0.10972627889316143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"df21c691a09a488f6854127fde1d68728dc9d3f8859130356b0c61b6e740647f","episode_index":3,"episode_name":"episode_0003"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0003.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2328/tex_ceiling_textures_6995/tex_floor_textures_1799/tex_table_textures_4796/tex_wall_textures_6868","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2180020520728315420,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2180020520728315420,"visual_seed":2180020520728315420,"scene_id":"lab_003","finished_at":"2026-09-06T11:09:16"} +{"episode_id":"ep_000004","started_at":"2026-09-06T11:09:24","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_0","position":[0.13687321155312482,1.6067502346334668,0.71338606911949],"aabb_xy":[[0.12342668491908149,1.5932803829803754],[0.15031973818716815,1.6202200862865581]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_1","position":[0.6542763692227604,1.7256707826008113,0.71338606911949],"aabb_xy":[[0.642707388475824,1.7006707824838798],[0.6658453499696971,1.7506707827177432]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_2","position":[-0.001986764472627689,-1.8055592948843797,0.71338606911949],"aabb_xy":[[-0.029831801253234813,-1.8363437936226914],[0.025858272307979435,-1.774774796146068]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_3","position":[0.5290922491073655,-1.4428220024173772,0.71338606911949],"aabb_xy":[[0.4917609725821229,-1.4774750572122295],[0.5664235256326081,-1.408168947622525]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_4","position":[-0.38169763490017566,-2.5380564851189837,0.71338606911949],"aabb_xy":[[-0.38940082557425265,-2.545765855817722],[-0.37399444422609857,-2.5303471144202456]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[-0.6501162987794911,-0.40519832482707896,0.71338606911949],"aabb_xy":[[-0.6726162992915315,-0.42769018319247726],[-0.6276162982674504,-0.38270646646168055]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_6","position":[0.295844432802042,1.0280435599104862,0.71338606911949],"aabb_xy":[[0.23084443424496914,0.9982910264966036],[0.3608444313591148,1.0577960933243689]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_7","position":[-0.3970787292896167,0.5781722256028656,0.71338606911949],"aabb_xy":[[-0.4470780044580528,0.5281722243269185],[-0.34707945412118046,0.6281722268788128]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_8","position":[0.46431735355731685,-1.7540531726935127,0.71338606911949],"aabb_xy":[[0.4393173542853545,-1.7703985362896748],[0.4893173528292791,-1.7377078090973501]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_9","position":[0.6507585682481913,-0.9598179973699541,0.71338606911949],"aabb_xy":[[0.5867585678706576,-1.0095632642207661],[0.7147585686257248,-0.9100727305191417]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_10","position":[-0.23776057200558443,-0.6447383035137082,0.71338606911949],"aabb_xy":[[-0.2787785153919553,-0.6947383041446655],[-0.19674262861921352,-0.5947383028827509]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_11","position":[-0.4617943601598952,1.02297047106503,0.71338606911949],"aabb_xy":[[-0.47466626366083536,0.942970470651194],[-0.4489224566589551,1.1029704714788662]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_12","position":[-0.43123274508044,-1.7889464178574725,0.71338606911949],"aabb_xy":[[-0.486224995715951,-1.8439464196007858],[-0.37624049444492913,-1.7339464161141602]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_13","position":[0.6402359259324351,0.05274842792288714,0.71338606911949],"aabb_xy":[[0.5974692190530149,-0.011251575498915312],[0.6830026328118552,0.1167484313446896]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_14","position":[-0.33636228653966715,-1.9988276759505086,0.71338606911949],"aabb_xy":[[-0.3439865546298454,-2.0064608994870525],[-0.3287380184494889,-1.991194452413965]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_15","position":[0.46111826558338764,-1.20519187469653,0.71338606911949],"aabb_xy":[[0.41114497158012714,-1.2551918752510771],[0.5110915595866481,-1.1551918741419824]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_16","position":[0.44103917146239136,1.0621192475016366,0.71338606911949],"aabb_xy":[[0.4316216968925286,1.0527030703639173],[0.4504566460322541,1.0715354246393554]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_17","position":[-0.30653853601399295,0.3841854296239684,0.71338606911949],"aabb_xy":[[-0.3515385374802218,0.33918557276248773],[-0.2615385345477641,0.4291852864854491]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_18","position":[-0.49447188095387634,1.6960091115800018,0.71338606911949],"aabb_xy":[[-0.5025855356272535,1.6879032951259727],[-0.48635822628049924,1.7041149280340309]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_19","position":[0.4886396377328859,1.4009286912098244,0.71338606911949],"aabb_xy":[[0.4711396374735494,1.386837149021052],[0.5061396379922227,1.4150202333985973]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_20","position":[-0.524960779918582,0.005894566762065345,0.71338606911949],"aabb_xy":[[-0.5799607795403279,-0.04908912602540738],[-0.4699607802968362,0.06087825954953807]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[-0.5988909394294504,0.23030947406024938,0.71338606911949],"aabb_xy":[[-0.6234371550522011,0.20006057751121228],[-0.5743447238066997,0.2605583706092864]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_22","position":[0.6143591186966064,-2.495912580512662,0.71338606911949],"aabb_xy":[[0.6095155239353764,-2.500764232991646],[0.6192027134578364,-2.491060928033678]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_23","position":[-0.5363318311418503,-0.6706819942154993,0.71338606911949],"aabb_xy":[[-0.5813244178603006,-0.7156819934899481],[-0.4913392444233998,-0.6256819949410506]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_24","position":[0.21347651746714513,1.7897957149036992,0.71338606911949],"aabb_xy":[[0.19656578503080332,1.7763235093110843],[0.23038724990348688,1.8032679204963136]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_25","position":[0.5282325130880774,-0.46093738994071387,0.71338606911949],"aabb_xy":[[0.5130696401111403,-0.4761028472358327],[0.5433953860650145,-0.44577193264559517]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983756240071604,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9410.png","name":"9410"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9410.png","name":"9410"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8529.png","name":"8529"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5036.png","name":"5036"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/973.png","name":"973"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":516.5600045454355,"rotation_z_degrees":55.4932582347933,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001063498544708802,0.003311719930066074,-0.0031864072969435275]},{"name":"camera_2","offset_m":[0.010278257344480481,0.018929460327324208,-0.016994691934523333]},{"name":"camera_3","offset_m":[-0.017923048283418872,-0.012609783249874091,0.007762486407604113]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0004176785698415651,0.0006631718797704658,-0.0006445215954810945],"end_effector_yaw_offset_degrees":-0.9321914169157268},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007893405605876006,-9.702167022051025e-07,-0.0007148437986002891],"end_effector_yaw_offset_degrees":0.28685348605527916},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0001258304628655811,-0.0015222013269259786,0.0007850426132815979],"end_effector_yaw_offset_degrees":-0.8216575423892403},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005127026527005426,0.0004938605895223962,-0.0010867859702264116],"end_effector_yaw_offset_degrees":0.5472727482360253},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015933171258641805,0.0010531711920246148,0.0012574976431368933],"end_effector_yaw_offset_degrees":0.9215404981782189},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00031953623925700487,0.0004841316378223705,-0.0017066617693077735],"end_effector_yaw_offset_degrees":-0.4763637594644854}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0007130769876243807,0.0035320894368105595],"position_m":[0.3207130769876244,0.3566320894368106,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003373267779164101,-0.0037193263381311947],"position_m":[0.17662673222083589,-0.03731932633813119,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00042220290673551045,0.0010714238477732554],"position_m":[0.2715777970932645,-0.36622857615222676,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027347871743917482,-6.096468424402618e-05],"position_m":[0.34123478717439176,0.10843903531575597,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1f0f476a8e0304540a42d58fb804770945acb23cec2cd96fdd149c3ef17adfac","episode_index":4,"episode_name":"episode_0004"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0004.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_9410/tex_ceiling_textures_973/tex_floor_textures_9723/tex_table_textures_8529/tex_wall_textures_5036","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2341877093716966502,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2341877093716966502,"visual_seed":2341877093716966502,"scene_id":"lab_003","finished_at":"2026-09-06T11:15:50"} +{"episode_id":"ep_000005","started_at":"2026-09-06T11:15:56","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_0","position":[0.6096984883842078,1.2545009722208067,0.71338606911949],"aabb_xy":[[0.5991310087261088,1.2439559421077981],[0.6202659680423068,1.2650460023338153]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_1","position":[-0.32459296618820577,-1.8779326124196714,0.71338606911949],"aabb_xy":[[-0.34209289962218914,-1.895432612339906],[-0.3070930327542224,-1.8604326124994368]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.6797333393980485,0.9709105255142947,0.71338606911949],"aabb_xy":[[0.6615275157368009,0.9598851249323032],[0.6979391630592963,0.9819359260962864]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.6226220948135758,-1.6467189875858863,0.71338606911949],"aabb_xy":[[-0.6306155846088578,-1.6547171195263624],[-0.6146286050182937,-1.6387208556454111]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[0.6366122952233946,0.27237286972265506,0.71338606911949],"aabb_xy":[[0.5726122949494163,0.22230676952536704],[0.7006122954973728,0.322438969919943]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_5","position":[-0.08431517554542034,1.2882890398728808,0.71338606911949],"aabb_xy":[[-0.09301313783613563,1.276164065565406],[-0.07561721325470505,1.3004140141803555]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_6","position":[0.4891937291313446,1.3686475049001712,0.71338606911949],"aabb_xy":[[0.4041937304392699,1.336661641505292],[0.5741937278234193,1.4006333682950498]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.5327607632844364,-2.1063778132818327,0.71338606911949],"aabb_xy":[[-0.5421077708667317,-2.1206814354994767],[-0.5234137557021412,-2.0920741910641887]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_8","position":[-0.41934864451597814,1.5248116378396186,0.71338606911949],"aabb_xy":[[-0.4319754318031745,1.5152655641380455],[-0.4067218572287818,1.5343577115411913]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_9","position":[0.032187845831242456,-0.9371218494833502,0.71338606911949],"aabb_xy":[[-0.0178114293371937,-0.9871218507592974],[0.08218712099967862,-0.887121848207403]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[0.6463445135273864,-1.602070863611139,0.71338606911949],"aabb_xy":[[0.6408865678903662,-1.682070866918798],[0.6518024591644064,-1.5220708603034798]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_11","position":[0.3679901149182272,-1.150306792020176,0.71338606911949],"aabb_xy":[[0.3219050236634957,-1.214306789272731],[0.4140752061729587,-1.0863067947676208]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_12","position":[-0.23153327644291216,1.6784210322675182,0.71338606911949],"aabb_xy":[[-0.26903327654850506,1.671598870414537],[-0.1940332763373192,1.6852431941204993]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[-0.6234434274581475,1.2110504740098555,0.71338606911949],"aabb_xy":[[-0.6609434258815479,1.1978862600420244],[-0.5859434290347472,1.2242146879776858]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_14","position":[-0.20061507663388534,-2.34772863313746,0.71338606911949],"aabb_xy":[[-0.20469323454093505,-2.351809613385723],[-0.19653691872683557,-2.3436476528891967]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_15","position":[0.00504337383194331,-2.4825654744356545,0.71338606911949],"aabb_xy":[[-0.04495662752894391,-2.5325433790110696],[0.05504337519283053,-2.4325875698602384]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_16","position":[-0.6414473886254786,1.7431173113614995,0.71338606911949],"aabb_xy":[[-0.6677362129459191,1.7168458777068483],[-0.6151585643050378,1.7693887450161507]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_17","position":[-0.47612844457910497,0.710548905582999,0.71338606911949],"aabb_xy":[[-0.48375271266928327,0.7029156820464553],[-0.4685041764889268,0.7181821291195427]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_18","position":[0.5018915190705948,-0.5119625500935872,0.71338606911949],"aabb_xy":[[0.4675946080528541,-0.5462594363035284],[0.5361884300883353,-0.4776656638836457]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.5480362901712739,-1.9300494676098012,0.71338606911949],"aabb_xy":[[0.5111857422342863,-1.9675494684328347],[0.5848868381082615,-1.8925494667867673]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_20","position":[0.687884438421658,1.5291388630452514,0.71338606911949],"aabb_xy":[[0.6628844392560248,1.5221866173398946],[0.712884437587291,1.5360911087506077]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[0.6660813754520742,-0.11272389834084784,0.71338606911949],"aabb_xy":[[0.652930129480785,-0.1377238980975344],[0.6792326214233637,-0.08772389858416131]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_22","position":[0.645813009255809,-1.2538917621900056,0.71338606911949],"aabb_xy":[[0.5958130098156132,-1.3038596866743222],[0.6958130086960045,-1.2039238377056896]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_23","position":[-0.37634368871311935,1.1927266022448801,0.71338606911949],"aabb_xy":[[-0.3988573805365765,1.1227266016438724],[-0.3538299968896621,1.2627266028458874]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_24","position":[-0.26386668460169377,1.5421214600581288,0.71338606911949],"aabb_xy":[[-0.28136668484674315,1.5246216722185617],[-0.2463666843566444,1.5596212478976954]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_25","position":[-0.5339870067527551,-1.523664183944148,0.71338606911949],"aabb_xy":[[-0.597987009971393,-1.5703872958431564],[-0.46998700353411726,-1.4769410720451397]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_26","position":[0.6609977926638282,-2.1421637032178067,0.71338606911949],"aabb_xy":[[0.6234977911481964,-2.153390476233952],[0.6984977941794598,-2.130936930201662]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_27","position":[0.687091808383034,-2.4719155079640966,0.71338606911949],"aabb_xy":[[0.652629330369946,-2.478579185147019],[0.7215542863961215,-2.4652518307811735]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_28","position":[0.4048857528693768,0.6391048524918634,0.71338606911949],"aabb_xy":[[0.34088575575727115,0.5900724826974528],[0.4688857499814825,0.688137222286274]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_29","position":[0.0036434804432938783,0.903069332310726,0.71338606911949],"aabb_xy":[[-0.05635652006455904,0.8462225986248045],[0.06364348095114679,0.9599160659966471]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_30","position":[-0.5568763761996938,-1.9365500223711563,0.71338606911949],"aabb_xy":[[-0.5936710093246,-1.9734558974677388],[-0.5200817430747875,-1.8996441472745742]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_31","position":[0.6130630267384405,-1.1003116642781328,0.71338606911949],"aabb_xy":[[0.5975072573281753,-1.1158620975225402],[0.6286187961487059,-1.0847612310337258]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_32","position":[-0.10103722350580346,-2.1920494294233444,0.71338606911949],"aabb_xy":[[-0.12462234696969832,-2.257049431668776],[-0.07745210004190861,-2.1270494271779126]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_33","position":[0.2618842213820033,1.5888340628187767,0.71338606911949],"aabb_xy":[[0.24433752646588436,1.5513340612545254],[0.2794309162981222,1.626334064383028]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022120545081497,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8658.png","name":"8658"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/928.png","name":"928"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3682.png","name":"3682"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7216.png","name":"7216"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4533.png","name":"4533"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":643.2014791443723,"rotation_z_degrees":52.00054383293414,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011309704015975825,0.005999345937255044,0.008980769929073928]},{"name":"camera_2","offset_m":[0.01106583085656402,0.0020205907866048846,0.0003262576028378039]},{"name":"camera_3","offset_m":[0.007988237764506748,-0.01414033715412125,0.006220907379438877]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00014195625132593743,-0.0015552374199674338,0.0012968943033179305],"end_effector_yaw_offset_degrees":-0.16306138600159126},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0017993227307733083,-0.001886716234492746,-0.0010340979768386164],"end_effector_yaw_offset_degrees":-0.10703694160592403},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018963795576304619,0.000624510444263256,-0.0014728321978340546],"end_effector_yaw_offset_degrees":0.013862621716838719},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007320848958954716,-0.0007298175844434366,-0.0003286077924590876],"end_effector_yaw_offset_degrees":-0.2027474965967364},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011114245605742868,0.0019568312206252715,0.0018148302567352636],"end_effector_yaw_offset_degrees":0.9101428985048745},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00021621136184989424,-0.001473940519689435,-0.0004395098958268817],"end_effector_yaw_offset_degrees":0.485229268183375}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0037385603241061422,-0.0004900517951807824],"position_m":[0.32373856032410614,0.3526099482048192,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003954185233606916,-0.0023683526234159658],"position_m":[0.17604581476639308,-0.03596835262341597,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031082277962788335,-0.0005117072712839468],"position_m":[0.27510822779627886,-0.367811707271284,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002048746589231757,0.002379050386993935],"position_m":[0.33645125341076826,0.11087905038699393,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"afc69f914ec3b820425e3cfec7d78b8453eac4c2cdcef17ec1abe4fdda8b8dab","episode_index":5,"episode_name":"episode_0005"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0005.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8658/tex_ceiling_textures_4533/tex_floor_textures_7216/tex_table_textures_928/tex_wall_textures_3682","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6465910058596212435,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6465910058596212435,"visual_seed":6465910058596212435,"scene_id":"lab_003","finished_at":"2026-09-06T11:22:30"} +{"episode_id":"ep_000006","started_at":"2026-09-06T11:22:36","dimensions":{"distractor":{"count":31,"items":[{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_0","position":[0.3953967993743659,-1.325004626407804,0.71338606911949],"aabb_xy":[[0.34542373384185043,-1.375004626220337],[0.4453698649068814,-1.2750046265952713]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_1","position":[0.2407434566122718,-0.681975057392759,0.71338606911949],"aabb_xy":[[0.23348220904186442,-0.6947620676562685],[0.24800470418267925,-0.6691880471292495]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_2","position":[-0.1733757693765915,-2.4155687114152458,0.71338606911949],"aabb_xy":[[-0.1979219849993422,-2.445817607964283],[-0.14882955375384074,-2.3853198148662087]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_3","position":[-0.2926750989223426,0.8816984797664933,0.71338606911949],"aabb_xy":[[-0.3426751002061825,0.8317196253758712],[-0.24267509763850262,0.9316773341571154]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_4","position":[-0.20641627028180992,-2.5548502510643356,0.71338606911949],"aabb_xy":[[-0.21199794191593865,-2.5673502508821104],[-0.20083459864768113,-2.54235025124656]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.2723151549544891,0.7246889184259597,0.71338606911949],"aabb_xy":[[0.22233634644417322,0.6746889184202409],[0.322293963464805,0.7746889184316785]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[-0.36418750669924677,-1.6977807257819326,0.71338606911949],"aabb_xy":[[-0.38024943415776435,-1.7827807275945244],[-0.34812557924072907,-1.6127807239693408]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_7","position":[-0.2016028564123224,-1.8720688555750533,0.71338606911949],"aabb_xy":[[-0.21031682546225686,-1.8945688562342415],[-0.19288888736238788,-1.849568854915865]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_8","position":[0.24078922328599062,-1.2549168265971153,0.71338606911949],"aabb_xy":[[0.22755827775130932,-1.2681442456191145],[0.2540201688206719,-1.2416894075751157]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.31206081836885025,-2.516456224384873,0.71338606911949],"aabb_xy":[[0.23206082120927496,-2.52800382534269],[0.39206081552842553,-2.504908623427056]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_10","position":[-0.6037744776195515,-1.6822316503617785,0.71338606911949],"aabb_xy":[[-0.6537744786386868,-1.7186978660996068],[-0.5537744766004162,-1.645765434623951]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_11","position":[0.03153972223012258,-1.3350493474481164,0.71338606911949],"aabb_xy":[[-0.005791554295120037,-1.3697024022429687],[0.0688709987553652,-1.3003962926532642]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_12","position":[0.01588870568188172,1.3851567774265163,0.71338606911949],"aabb_xy":[[-0.06783351981820074,1.2951567738918202],[0.09961093118196418,1.475156780961212]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_13","position":[-0.330232356948784,0.30227833003447113,0.71338606911949],"aabb_xy":[[-0.34159409160207016,0.29090986362818305],[-0.31887062229549784,0.3136467964407592]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_14","position":[0.5537958316431839,1.2249027374917172,0.71338606911949],"aabb_xy":[[0.529959614002579,1.1349027366832307],[0.5776320492837891,1.3149027383002037]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_15","position":[-0.558642928670851,0.7441564379739307,0.71338606911949],"aabb_xy":[[-0.5936429278636691,0.733189391976268],[-0.5236429294780326,0.7551234839715932]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_16","position":[-0.501063166009072,0.240843211591252,0.71338606911949],"aabb_xy":[[-0.5139350695100121,0.16084321117741585],[-0.4881912625081319,0.32084321200508814]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_17","position":[0.5446829415590511,-1.897371871186058,0.71338606911949],"aabb_xy":[[0.5147153846492254,-1.9273718714839438],[0.5746504984688767,-1.8673718708881724]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_18","position":[0.3540322085785368,-2.3079685978644644,0.71338606911949],"aabb_xy":[[0.3000166122966368,-2.371968600756721],[0.4080478048604368,-2.243968594972207]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[0.46410022527810524,-1.6535676000918005,0.71338606911949],"aabb_xy":[[0.37410022294408624,-1.7310499546769131],[0.5541002276121243,-1.5760852455066878]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_20","position":[-0.5774729279079036,-1.0042589886314073,0.71338606911949],"aabb_xy":[[-0.5918073530340671,-1.0163192041859461],[-0.5631385027817402,-0.9921987730768684]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_21","position":[-0.39531954334892383,-1.1333942832167543,0.71338606911949],"aabb_xy":[[-0.4029438114391021,-1.1410275067532982],[-0.3876952752587456,-1.1257610596802108]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[0.31657558411475684,-0.5237501760297278,0.71338606911949],"aabb_xy":[[0.2887305473341497,-0.5545346747680395],[0.34442062089536396,-0.49296567729141616]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_23","position":[0.2412571774361204,1.2526643914540658,0.71338606911949],"aabb_xy":[[0.16125718042187243,1.2325298397806543],[0.3212571744503684,1.2727989431274769]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[-0.5428310868529408,-2.3702650263725737,0.71338606911949],"aabb_xy":[[-0.5537368629405035,-2.450265022771403],[-0.5319253107653781,-2.2902650299737446]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_25","position":[0.18810387239361326,1.4366517914615442,0.71338606911949],"aabb_xy":[[0.1798893272779292,1.4279752011639026],[0.19631841750929716,1.4453283817591853]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_26","position":[-0.34093437118162456,-1.2366591636024986,0.71338606911949],"aabb_xy":[[-0.37593437115812045,-1.246123779650115],[-0.3059343712051288,-1.2271945475548818]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_27","position":[-0.13493408756866998,-1.6741343291204793,0.71338606911949],"aabb_xy":[[-0.14422770580582056,-1.7116343276086128],[-0.1256404693315194,-1.636634330632345]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_28","position":[0.14048053320124432,-2.2519439481785075,0.71338606911949],"aabb_xy":[[0.12530836391961098,-2.2671128051067115],[0.15565270248287766,-2.2367750912503044]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_29","position":[0.5185605515484701,-0.818957288495707,0.71338606911949],"aabb_xy":[[0.43856055296115076,-0.8982728904338679],[0.5985605501357896,-0.7396416865575461]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_30","position":[-0.19363541884125535,0.19316825566452378,0.71338606911949],"aabb_xy":[[-0.2260971197231828,0.16303542354962114],[-0.1611737179593279,0.22330108777942637]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955480474258404,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7095.png","name":"7095"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/257.png","name":"257"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/649.png","name":"649"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7683.png","name":"7683"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9207.png","name":"9207"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":645.7007105078136,"rotation_z_degrees":297.2116972162709,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0030668934134966894,-0.005276954445544147,-0.010752837670127122]},{"name":"camera_2","offset_m":[-0.017080517551861525,0.013611547561978247,-0.01579568777617695]},{"name":"camera_3","offset_m":[-0.010589309972668786,-0.014880130721763267,0.004910980434828471]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001214850186971865,-0.00013442693478979135,-0.0017622584458197546],"end_effector_yaw_offset_degrees":-0.32047503454794124},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007040390461412163,0.00029116970643938266,0.0014765397982867434],"end_effector_yaw_offset_degrees":-0.6015564559559075},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0009497165681702864,0.0007433892512331312,0.001166042376737805],"end_effector_yaw_offset_degrees":0.197637747902476},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[8.320581314636213e-06,0.0015492272473707565,0.001998018422675386],"end_effector_yaw_offset_degrees":-0.3645524820205148},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019195634799216675,0.001300833865955264,0.0003616285179432253],"end_effector_yaw_offset_degrees":0.34231656561274404},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019249342563054364,-5.949385986885893e-05,0.0005550085523937497],"end_effector_yaw_offset_degrees":-0.7558162765974028}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.192782254852645e-05,0.0018548914862052922],"position_m":[0.32004192782254853,0.3549548914862053,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003582933721879996,-0.004985770883987618],"position_m":[0.18358293372187998,-0.03858577088398762,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002833731204094271,0.0025478307882928174],"position_m":[0.26916626879590577,-0.3647521692117072,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002768303802519248,-0.001273779214547771],"position_m":[0.34126830380251927,0.10722622078545223,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d95989e3040fa0efd16c60f27b396dbcc6e8b888f820a769629f368adb6cb378","episode_index":6,"episode_name":"episode_0006"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0006.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7095/tex_ceiling_textures_9207/tex_floor_textures_7683/tex_table_textures_257/tex_wall_textures_649","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5566537052306065210,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5566537052306065210,"visual_seed":5566537052306065210,"scene_id":"lab_003","finished_at":"2026-09-06T11:29:09"} +{"episode_id":"ep_000007","started_at":"2026-09-06T11:29:17","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_0","position":[-0.646623603580236,0.41842777571874823,0.71338606911949],"aabb_xy":[[-0.6691236033941383,0.41395315934826754],[-0.6241236037663336,0.4229023920892289]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_1","position":[-0.07205419953153536,-0.39677630522595164,0.71338606911949],"aabb_xy":[[-0.076170149643608,-0.40089186025879703],[-0.06793824941946268,-0.39266075019310603]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_2","position":[0.09916503901149243,-1.4323624157582575,0.71338606911949],"aabb_xy":[[0.03916503916492564,-1.4891810379512962],[0.15916503885805922,-1.3755437935652188]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_3","position":[0.6833350319382185,0.08341734396851797,0.71338606911949],"aabb_xy":[[0.6490187547636006,0.03341734399534023],[0.7176513091128365,0.1334173439416957]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_4","position":[0.06424330804226475,-1.0970401143731643,0.71338606911949],"aabb_xy":[[0.03969709241951402,-1.1272890109222014],[0.08878952366501545,-1.0667912178241272]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_5","position":[0.6604249201703356,-0.47774142424729904,0.71338606911949],"aabb_xy":[[0.5964249230582299,-0.5267737940417097],[0.7244249172824413,-0.4287090544528884]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_6","position":[0.2783782476688367,1.2539140313172288,0.71338606911949],"aabb_xy":[[0.2533782477363188,1.2470313630963057],[0.30337824760135457,1.2607966995381523]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[-0.46747892488237075,0.7870103648625126,0.71338606911949],"aabb_xy":[[-0.4986258437259539,0.7170103661757053],[-0.4363320060387877,0.8570103635493197]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_8","position":[0.07888667064260646,1.2289532724168715,0.71338606911949],"aabb_xy":[[0.0657354246713171,1.203953272660185],[0.09203791661389582,1.253953272173558]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_9","position":[0.13907079285019852,1.555796732400395,0.71338606911949],"aabb_xy":[[0.13411477266531732,1.5332967321982738],[0.14402681303507972,1.578296732602517]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_10","position":[-0.29856672347815494,-2.3213980302364723,0.71338606911949],"aabb_xy":[[-0.32106314491201904,-2.3438980300432197],[-0.27607030204429084,-2.298898030429725]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_11","position":[-0.39830701915196526,1.7250171704561148,0.71338606911949],"aabb_xy":[[-0.46230702120169725,1.684922687366807],[-0.33430701710223326,1.765111653545423]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_12","position":[-0.37159370215610654,-0.1767112534486861,0.71338606911949],"aabb_xy":[[-0.4615937015744774,-0.21008675029287582],[-0.2815937027377356,-0.14333575660449638]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_13","position":[-0.20732599481373404,-0.4433000569588086,0.71338606911949],"aabb_xy":[[-0.21816647304024891,-0.4604863382494574],[-0.1964855165872191,-0.4261137756681598]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.3153890591204427,-0.7680473698191144,0.71338606911949],"aabb_xy":[[0.2653897839520065,-0.8180473710950616],[0.36538833428887885,-0.7180473685431673]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[-0.07599766418600973,-1.2526227053114591,0.71338606911949],"aabb_xy":[[-0.12598061437348904,-1.3026227049540193],[-0.02601471399853039,-1.2026227056688985]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_16","position":[-0.5188814757573335,-2.315540838054835,0.71338606911949],"aabb_xy":[[-0.5563814761055612,-2.3273322336359183],[-0.4813814754091057,-2.3037494424737512]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_17","position":[0.5787945017804239,-2.466476188213369,0.71338606911949],"aabb_xy":[[0.5137945032233511,-2.496228721627252],[0.6437945003374967,-2.436723654799487]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_18","position":[0.6391076662112869,-1.4094759916574338,0.71338606911949],"aabb_xy":[[0.6016076661056939,-1.4162981535104147],[0.6766076663168799,-1.4026538298044524]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_19","position":[-0.6338684402521243,-2.418406990442734,0.71338606911949],"aabb_xy":[[-0.683868441913619,-2.4684054326984364],[-0.5838684385906294,-2.368408548187031]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_20","position":[0.40481754161221994,-1.3902348046150521,0.71338606911949],"aabb_xy":[[0.3698175416357241,-1.399699420662669],[0.4398175415887158,-1.3807701885674357]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_21","position":[-0.6626022444799226,-1.5892907062467465,0.71338606911949],"aabb_xy":[[-0.6706385791812073,-1.5973288255511633],[-0.6545659097786376,-1.5812525869423297]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_22","position":[0.4392741873421995,-1.6075835274124053,0.71338606911949],"aabb_xy":[[0.4017741868448413,-1.6115522109605236],[0.4767741878395578,-1.6036148438642865]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_23","position":[-0.28056416488862357,-1.2857858141936425,0.71338606911949],"aabb_xy":[[-0.31806416470565707,-1.2904240255047843],[-0.24306416507158995,-1.2811476028825006]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_24","position":[-0.41973194299696914,-0.608197540656717,0.71338606911949],"aabb_xy":[[-0.48373194467496644,-0.6567149321360312],[-0.35573194131897173,-0.5596801491774027]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_25","position":[0.0485244592340589,0.8623704806636043,0.71338606911949],"aabb_xy":[[0.011024459062186964,0.829669745280697],[0.08602445940593084,0.8950712160465114]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_26","position":[-0.08442832843062009,-0.9956963566890149,0.71338606911949],"aabb_xy":[[-0.12192832909519878,-1.011383414689237],[-0.04692832776604138,-0.9800092986887927]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_27","position":[0.08271840949290032,-2.0208673855775596,0.71338606911949],"aabb_xy":[[0.0730867732724707,-2.0305046983572685],[0.09235004571332994,-2.0112300727978507]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_28","position":[-0.04899247910267557,0.09144315345012544,0.71338606911949],"aabb_xy":[[-0.05976545302404335,0.056443155231086437],[-0.03821950518130779,0.12644315166916442]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[0.43535425559521235,-2.30629793584032,0.71338606911949],"aabb_xy":[[0.4261943766513357,-2.312829153883857],[0.4445141345390889,-2.2997667177967833]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_30","position":[-0.35896279980557266,0.9642398702758341,0.71338606911949],"aabb_xy":[[-0.40114721396640346,0.900239869998623],[-0.316778385644742,1.0282398705530453]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_31","position":[-0.4463306011858534,1.242198191508582,0.71338606911949],"aabb_xy":[[-0.4622150944511786,1.227845251209758],[-0.4304461079205283,1.256551131807406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6956444088739485,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5557.png","name":"5557"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3180.png","name":"3180"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3633.png","name":"3633"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9129.png","name":"9129"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1801.png","name":"1801"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":697.2844765752066,"rotation_z_degrees":127.11559666614279,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01702292293145458,0.01570988244324364,-0.010891007720087149]},{"name":"camera_2","offset_m":[-0.009902774889285664,-0.008795652720488807,-0.01943937560380753]},{"name":"camera_3","offset_m":[0.01988009430477537,-0.0183551193762209,0.0073462154963394935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013926758798972244,0.0007968589255106869,0.0007056140463300672],"end_effector_yaw_offset_degrees":-0.7162977485081636},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012113705476006777,-0.0012152365293417082,-0.0013594231435302],"end_effector_yaw_offset_degrees":0.6896782078809061},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00012846750835366553,-0.001880535685079413,0.0014906704520773434],"end_effector_yaw_offset_degrees":-0.22235670253733497},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010787443754712136,-0.00031468355235947636,0.0009478573424591694],"end_effector_yaw_offset_degrees":-0.7179777463726256},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001501310673883352,-0.0013035284690771545,-0.0011446761610223826],"end_effector_yaw_offset_degrees":0.21687402368583242},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00015180459320944875,-0.0005931320413761951,0.0005684205295701209],"end_effector_yaw_offset_degrees":-0.7712851508260707}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0023389034657229713,0.002684929897607974],"position_m":[0.32233890346572297,0.355784929897608,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008202359310717786,0.00401989611591965],"position_m":[0.17917976406892822,-0.029580103884080347,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001615996807262452,0.004347677995573048],"position_m":[0.2703840031927376,-0.36295232200442695,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003698229907755487,-0.0021177755068825855],"position_m":[0.3421982299077555,0.10638222449311742,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3afe9e4bdcefac3d9ef24ef12969221ec15156a46882222f57c72a70bfbe8c3f","episode_index":7,"episode_name":"episode_0007"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0007.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5557/tex_ceiling_textures_1801/tex_floor_textures_9129/tex_table_textures_3180/tex_wall_textures_3633","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2055777324039200209,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2055777324039200209,"visual_seed":2055777324039200209,"scene_id":"lab_003","finished_at":"2026-09-06T11:35:30"} +{"episode_id":"ep_000008","started_at":"2026-09-06T11:35:36","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_0","position":[0.0720998148444848,1.3308899528338642,0.71338606911949],"aabb_xy":[[0.05963245673474915,1.3184246282005407],[0.08456717295422045,1.3433552774671877]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_1","position":[-0.1473127471152348,-0.9181392816023091,0.71338606911949],"aabb_xy":[[-0.21731274871751427,-0.9315720748039665],[-0.0773127455129553,-0.9047064884006514]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_2","position":[-0.6320223670459725,-2.3378294520969627,0.71338606911949],"aabb_xy":[[-0.648699503039068,-2.354529376070893],[-0.615345231052877,-2.3211295281230324]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.35548335199139713,-0.7821284094667253,0.71338606911949],"aabb_xy":[[0.33793665707527815,-0.8196284110309766],[0.373030046907516,-0.7446284079024741]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_4","position":[-0.33833539415833747,1.3348878297019966,0.71338606911949],"aabb_xy":[[-0.40233539744804553,1.2915529106980788],[-0.2743353908686293,1.378222748705914]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_5","position":[0.03172972603803914,1.7146656462958902,0.71338606911949],"aabb_xy":[[-0.04827027612472335,1.6347104626697464],[0.11172972820080163,1.7946208299220336]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_6","position":[-0.16236878058560877,0.7139575283673993,0.71338606911949],"aabb_xy":[[-0.21736878020735462,0.6589738355799267],[-0.10736878096386293,0.7689412211548722]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_7","position":[-0.13978473738231734,1.7204455945951138,0.71338606911949],"aabb_xy":[[-0.16500557424215698,1.6952218437422268],[-0.11456390052247765,1.7456693454480003]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_8","position":[-0.6028186927764914,-1.8542015540811199,0.71338606911949],"aabb_xy":[[-0.657943898406082,-1.9142015555224068],[-0.5476934871469005,-1.7942015526398325]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_9","position":[-0.4958136488061132,0.7321816973616646,0.71338606911949],"aabb_xy":[[-0.5658136506148587,0.7108279285974772],[-0.4258136469973678,0.753535466125852]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_10","position":[-0.10273445306350937,1.5047928266714057,0.71338606911949],"aabb_xy":[[-0.10819239870052944,1.4247928233637464],[-0.0972765074264893,1.5847928299790646]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_11","position":[0.09124005941537516,-0.7161363961712433,0.71338606911949],"aabb_xy":[[0.053740059123200346,-0.7201778715718468],[0.12874005970754998,-0.7120949207706395]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_12","position":[-0.47451501066983837,-2.3175255501153607,0.71338606911949],"aabb_xy":[[-0.4964047582587791,-2.40752554740461],[-0.4526252630808975,-2.2275255528261115]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_13","position":[-0.43212314739383895,-0.25931572488819565,0.71338606911949],"aabb_xy":[[-0.46962314596945975,-0.2720520205517536],[-0.39462314881821814,-0.24657942922463774]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_14","position":[0.1849135192802026,1.4132357761583614,0.71338606911949],"aabb_xy":[[0.14811888615529634,1.376329901061779],[0.22170815240510888,1.4501416512549437]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_15","position":[0.4991529184067518,-1.2751948375567361,0.71338606911949],"aabb_xy":[[0.4911266477761258,-1.2839463325340887],[0.5071791890373778,-1.2664433425793835]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_16","position":[0.29736135939182284,-2.2377716465105935,0.71338606911949],"aabb_xy":[[0.2798613591324863,-2.2518631886993665],[0.3148613596511595,-2.2236801043218213]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_17","position":[0.20485299848373706,1.2689064564579602,0.71338606911949],"aabb_xy":[[0.14485299797588413,1.2120597227720387],[0.26485299899159,1.3257531901438813]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_18","position":[-0.45274393313955463,1.3027170999261046,0.71338606911949],"aabb_xy":[[-0.45978538409030223,1.29569034818831],[-0.44570248218880704,1.3097438516638988]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_19","position":[-0.09886996382025293,-2.538573526634317,0.71338606911949],"aabb_xy":[[-0.10382598400513415,-2.561073526836439],[-0.09391394363537175,-2.516073526432195]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.30439990883935997,0.3401220617447769,0.71338606911949],"aabb_xy":[[-0.3157616434926461,0.3287535953384888],[-0.2930381741860738,0.35149052815106496]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_21","position":[0.49920718138189635,1.7771953997782854,0.71338606911949],"aabb_xy":[[0.44920718194170073,1.727227475293969],[0.549207180822092,1.8271633242626015]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_22","position":[0.12726612700738782,0.966647097743567,0.71338606911949],"aabb_xy":[[0.1168545683269041,0.9613013644076683],[0.13767768568787153,0.9719928310794653]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_23","position":[-0.19330373776962517,-1.925869299117709,0.71338606911949],"aabb_xy":[[-0.25730373917761584,-1.9776582506416338],[-0.1293037363616345,-1.8740803475937844]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_24","position":[-0.4811759921938308,-1.9002588131961797,0.71338606911949],"aabb_xy":[[-0.49706048545915593,-1.9146117534950038],[-0.46529149892850563,-1.8859058728973557]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_25","position":[0.48199928526685754,1.2408919696248155,0.71338606911949],"aabb_xy":[[0.45950286383299344,1.218391969818068],[0.5044957067007216,1.263391969431563]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_26","position":[0.09197815703346734,-1.079029625168575,0.71338606911949],"aabb_xy":[[0.08376361191778335,-1.0877062154662158],[0.10019270214915131,-1.0703530348709331]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[0.2328712498196417,-1.9880390389972278,0.71338606911949],"aabb_xy":[[0.1528712483895145,-2.0675561940098373],[0.3128712512497689,-1.9085218839846183]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_28","position":[-0.3046812033370546,1.1078379202575857,0.71338606911949],"aabb_xy":[[-0.3946812019315246,1.0915873339441646],[-0.21468120474258473,1.1240885065710067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007720212934175,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7576.png","name":"7576"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8270.png","name":"8270"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3091.png","name":"3091"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/213.png","name":"213"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6140.png","name":"6140"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":743.6036751951906,"rotation_z_degrees":84.19748144339746,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015355592145983848,-0.005251456585424039,-0.017203295720958117]},{"name":"camera_2","offset_m":[0.018912129653637918,0.01108165789346904,-0.003658367542410855]},{"name":"camera_3","offset_m":[-0.006395486650208259,-0.002967858355102191,-0.002333986946459029]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.000611099681307624,-0.0006481193943376877,-0.001284434346376304],"end_effector_yaw_offset_degrees":0.8242311296761404},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014877252174446587,-0.0016322389191940618,-0.0004639523215219294],"end_effector_yaw_offset_degrees":-0.0028757033648927344},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006815011365364871,0.001849401135293824,-0.0012659692443201048],"end_effector_yaw_offset_degrees":0.3947870044656796},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018984597396473131,-0.001647087866104005,0.00019539786901537305],"end_effector_yaw_offset_degrees":-0.032311826249945996},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0002904678632996518,0.0015422040408588134,0.00016990801268036704],"end_effector_yaw_offset_degrees":-0.3577424012787722},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015346166635537611,-0.0012793405891686686,-0.00013325667934212942],"end_effector_yaw_offset_degrees":-0.6801107921620464}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002211291334447061,0.0023582071471134345],"position_m":[0.3177887086655529,0.35545820714711346,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010805566872173914,0.0040386837440816855],"position_m":[0.1810805566872174,-0.02956131625591831,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0004366718165608697,-0.002096873313992623],"position_m":[0.2724366718165609,-0.3693968733139926,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007902151812527224,0.001498606514711556],"position_m":[0.3377097848187473,0.10999860651471155,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ea71ce3d3b098c745266df92c5e398e2e3dbcc604a7cbccb05148f54183344a7","episode_index":8,"episode_name":"episode_0008"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0008.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7576/tex_ceiling_textures_6140/tex_floor_textures_213/tex_table_textures_8270/tex_wall_textures_3091","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5829212806432508790,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5829212806432508790,"visual_seed":5829212806432508790,"scene_id":"lab_003","finished_at":"2026-09-06T11:41:59"} +{"episode_id":"ep_000009","started_at":"2026-09-06T11:42:07","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_0","position":[0.3812545866233301,1.4338138350607532,0.71338606911949],"aabb_xy":[[0.31625458566620285,1.3818656231270476],[0.4462545875804573,1.4857620469944588]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_1","position":[-0.2750526550032176,-2.515878941699637,0.71338606911949],"aabb_xy":[[-0.2893870801293811,-2.5279391572541763],[-0.2607182298770542,-2.503818726145099]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_2","position":[0.46964248676244846,-2.079566339868197,0.71338606911949],"aabb_xy":[[0.4517733790079929,-2.093399247845408],[0.4875115945169039,-2.065733431890986]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_3","position":[-0.06207433815252239,-1.3607216037551537,0.71338606911949],"aabb_xy":[[-0.12607433543817104,-1.4022283227079975],[0.0019256591331262632,-1.3192148848023095]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_4","position":[-0.26036201302285966,0.277317504419321,0.71338606911949],"aabb_xy":[[-0.31035702398231174,0.2273175053837293],[-0.2103670020634077,0.32731750345491273]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_5","position":[-0.6264269247000716,-1.410329080223265,0.71338606911949],"aabb_xy":[[-0.6334672346336088,-1.4903290796229365],[-0.6193866147665348,-1.3303290808235937]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_6","position":[0.4518214325389114,1.18477020725499,0.71338606911949],"aabb_xy":[[0.3818214309366319,1.1713374140533324],[0.5218214341411909,1.1982030004566475]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_7","position":[-0.36163385734827935,-2.385872958527452,0.71338606911949],"aabb_xy":[[-0.36574980746035196,-2.389988513560297],[-0.35751790723620663,-2.381757403494606]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_8","position":[0.07680904586152282,-1.7593133633837112,0.71338606911949],"aabb_xy":[[0.06751542762437222,-1.7968133618718447],[0.08610266409867338,-1.721813364895577]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[-0.3027494850850272,-2.0057459437837446,0.71338606911949],"aabb_xy":[[-0.3125054745942011,-2.015508477842979],[-0.2929934955758533,-1.9959834097245102]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_10","position":[0.3801269900436035,-1.1727304672225463,0.71338606911949],"aabb_xy":[[0.3624941544500758,-1.190353413238169],[0.39775982563713097,-1.155107521206923]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[-0.5541370782176779,-1.5031920160728511,0.71338606911949],"aabb_xy":[[-0.5628510472676123,-1.5256920167320391],[-0.5454231091677433,-1.4806920154136627]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_12","position":[0.4124933083015043,-1.421103486981996,0.71338606911949],"aabb_xy":[[0.405249542255259,-1.5011034851855984],[0.41973707434774965,-1.3411034887783937]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[-0.46764986442913203,-2.1470112468296554,0.71338606911949],"aabb_xy":[[-0.47109054066918926,-2.1508726798040203],[-0.4642091881890749,-2.1431498138552914]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_14","position":[-0.29008403869985616,-1.8882993198486542,0.71338606911949],"aabb_xy":[[-0.29749649424124464,-1.894150530270282],[-0.2826715831584677,-1.882448109427026]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_15","position":[0.5445136027643571,-2.5551928336093814,0.71338606911949],"aabb_xy":[[0.53639994809098,-2.5632986500634107],[0.5526272574377342,-2.547087017155352]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_16","position":[-0.4838683116043462,-1.2145727369279586,0.71338606911949],"aabb_xy":[[-0.5638683090079395,-1.2945653081261415],[-0.4038683142007527,-1.1345801657297758]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_17","position":[0.3164317140915607,0.6767853922754044,0.71338606911949],"aabb_xy":[[0.2778860212663597,0.6382396212192158],[0.3549774069167618,0.7153311633315931]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.08622245595826294,1.7200282935899822,0.71338606911949],"aabb_xy":[[0.02222245373785592,1.6756552094646937],[0.15022245817866997,1.7644013777152703]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_19","position":[-0.2553862877879564,-1.480087645144185,0.71338606911949],"aabb_xy":[[-0.2640842500786717,-1.4922126194516598],[-0.24668832549724112,-1.4679626708367104]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_20","position":[-0.18628415168598955,1.3313511873414345,0.71338606911949],"aabb_xy":[[-0.22058106270373018,1.297054301131493],[-0.15198724066824892,1.3656480735513756]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_21","position":[-0.20854103209011682,-0.8284330896869223,0.71338606911949],"aabb_xy":[[-0.27854102850007856,-0.8488710253386037],[-0.13854103568015497,-0.8079951540352402]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_22","position":[0.3365916452953104,-2.4659071257188785,0.71338606911949],"aabb_xy":[[0.3239889461582339,-2.4785025219437444],[0.34919434443238684,-2.4533117294940134]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_23","position":[0.08846470998347722,1.2541425844286138,0.71338606911949],"aabb_xy":[[0.050964709811605266,1.2214418490457064],[0.12596471015534916,1.2868433198115208]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_24","position":[-0.3792761767193513,-1.8366641950120277,0.71338606911949],"aabb_xy":[[-0.3871994569580997,-1.8591641952500308],[-0.37135289648060305,-1.8141641947740241]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_25","position":[-0.550733229170786,-0.12804248147130437,0.71338606911949],"aabb_xy":[[-0.5851957071838737,-0.1347061586542272],[-0.5162707511576982,-0.12137880428838155]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_26","position":[-0.3413824982345392,-0.989553244906584,0.71338606911949],"aabb_xy":[[-0.37638249654523465,-0.9972682598301297],[-0.30638249992384375,-0.9818382299830384]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_27","position":[0.6853919810294153,1.514168771010993,0.71338606911949],"aabb_xy":[[0.6682899030710471,1.4970619654797233],[0.7024940589877834,1.5312755765422628]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_28","position":[0.15300772006277175,-2.405455646617194,0.71338606911949],"aabb_xy":[[0.0680077213706971,-2.4374415100120723],[0.2380077187548464,-2.3734697832223146]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_29","position":[0.5066136070527807,1.5607915870638673,0.71338606911949],"aabb_xy":[[0.47415190617085307,1.5306587549489643],[0.5390753079347079,1.5909244191787695]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_30","position":[0.03694340627848469,-1.5442091487596579,0.71338606911949],"aabb_xy":[[-0.03305659635810165,-1.5643140137555234],[0.10694340891507104,-1.5241042837637924]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_31","position":[-0.21779103537011546,-0.27664278298220824,0.71338606911949],"aabb_xy":[[-0.3077910390470336,-0.33807518955931254],[-0.12779103169319725,-0.21521037640510382]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699643396421298,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9212.png","name":"9212"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9212.png","name":"9212"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2362.png","name":"2362"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4462.png","name":"4462"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2699.png","name":"2699"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/246.png","name":"246"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.9380773152615,"rotation_z_degrees":290.94555801892733,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017393509864134658,-0.01581085766985769,0.018873148613614162]},{"name":"camera_2","offset_m":[-0.01711062770321284,-0.0148066202508577,-0.011832878580217034]},{"name":"camera_3","offset_m":[0.01306260182982356,-0.00123826312115808,-0.011181041007881691]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00032576036924101886,-0.0007533027803524326,0.0014755320225933312],"end_effector_yaw_offset_degrees":0.44850104619675735},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0017382169470421351,-0.0010897611870157218,-0.0003284024372344843],"end_effector_yaw_offset_degrees":-0.011435665552836927},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010735623620004133,-0.001163880152971847,0.0013042039510856827],"end_effector_yaw_offset_degrees":-0.49077109507092276},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[6.672639699716e-05,0.0006049399544341984,0.0019784212210305204],"end_effector_yaw_offset_degrees":-0.8378123083317905},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019147802162322815,0.0001329440973574002,-0.0007677509769779278],"end_effector_yaw_offset_degrees":-0.5671614140988475},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0001087803417101471,-0.0004020707327926712,-0.0008666495197614053],"end_effector_yaw_offset_degrees":-0.14044100416390992}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003537907918980867,-0.002050725723565041],"position_m":[0.3203537907918981,0.351049274276435,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.000761006456016294,-0.0023411768618177655],"position_m":[0.18076100645601628,-0.03594117686181776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009104286036254539,0.0008179649117746905],"position_m":[0.27291042860362547,-0.3664820350882253,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013906914019062877,0.004968436442667837],"position_m":[0.33710930859809374,0.11346843644266784,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a1374666bc899101e05ab65145a15f180da368a4659d31a07b0d752b6c3f01eb","episode_index":9,"episode_name":"episode_0009"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0009.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9212/tex_ceiling_textures_246/tex_floor_textures_2699/tex_table_textures_2362/tex_wall_textures_4462","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2901746338123594645,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2901746338123594645,"visual_seed":2901746338123594645,"scene_id":"lab_003","finished_at":"2026-09-06T11:48:37"} +{"episode_id":"ep_000010","started_at":"2026-09-06T11:48:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.3442896121120509,-1.6821813743627885,0.71338606911949],"aabb_xy":[[0.33825259911138617,-1.688208075431737],[0.3503266251127156,-1.6761546732938404]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_1","position":[-0.2874127623720933,1.166925926170487,0.71338606911949],"aabb_xy":[[-0.3524127633292205,1.1149777142367814],[-0.2224127614149661,1.2188741381041925]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[-0.5103949691518153,-2.378613891793978,0.71338606911949],"aabb_xy":[[-0.5286007928130629,-2.3896392923759695],[-0.4921891454905676,-2.3675884912119862]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.07095315548092118,-1.812547916722524,0.71338606911949],"aabb_xy":[[-0.12607836111051193,-1.8725479181638112],[-0.0158279498513304,-1.7525479152812369]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.5494954658790342,-1.2208862192591134,0.71338606911949],"aabb_xy":[[-0.5859912865063128,-1.257370161685871],[-0.5129996452517553,-1.1844022768323559]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.5068053813128528,0.8737811757336655,0.71338606911949],"aabb_xy":[[0.4268053780488398,0.8602211434247523],[0.586805384576866,0.887341208042579]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_6","position":[0.15322025754353785,-2.446581879230115,0.71338606911949],"aabb_xy":[[0.14145207074888036,-2.531581879135337],[0.1649884443381954,-2.361581879324894]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_7","position":[-0.06737517176066388,-2.235389716377962,0.71338606911949],"aabb_xy":[[-0.15706224806877933,-2.325389716632412],[0.022311904547451578,-2.145389716123511]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_8","position":[-0.1060177137134034,-1.288713572233472,0.71338606911949],"aabb_xy":[[-0.1310177132651419,-1.2988560560986067],[-0.08101771416166492,-1.2785710883683372]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_9","position":[0.383194132621973,-1.944645508610774,0.71338606911949],"aabb_xy":[[0.333194131338133,-1.9946243630013958],[0.43319413390581296,-1.8946666542201516]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_10","position":[-0.08103962602609394,1.5895934280377317,0.71338606911949],"aabb_xy":[[-0.13103273813528585,1.5395934273635363],[-0.03104651391690206,1.6395934287119276]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.17220157403733383,1.098110726897854,0.71338606911949],"aabb_xy":[[-0.18195756354650772,1.0883481928386196],[-0.16244558452815994,1.1078732609570885]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_12","position":[-0.39417430917904284,-0.35026351172853687,0.71338606911949],"aabb_xy":[[-0.4102362366375604,-0.43526351354112863],[-0.37811238172052514,-0.265263509915945]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_13","position":[0.03783205576643933,0.762851944284296,0.71338606911949],"aabb_xy":[[0.020253753577492484,0.7452774547101912],[0.05541035795538618,0.780426433858401]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_14","position":[0.06517716005427354,-1.0716396296065072,0.71338606911949],"aabb_xy":[[0.015177884885837378,-1.1216396308824543],[0.1151764352227097,-1.02163962833056]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[0.5578483651712953,-2.0525235880961934,0.71338606911949],"aabb_xy":[[0.5498050052453402,-2.13752358919156],[0.5658917250972505,-1.967523587000827]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.5740973286036939,1.257408784495294,0.71338606911949],"aabb_xy":[[0.5191018507830345,1.202408783061387],[0.6290928064243533,1.3124087859292008]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_17","position":[-0.5000272108311282,1.3031622778329162,0.71338606911949],"aabb_xy":[[-0.5650272087127761,1.2520386141263755],[-0.43502721294948055,1.3542859415394572]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_18","position":[-0.37568427131125637,0.242556603553862,0.71338606911949],"aabb_xy":[[-0.4556842692920414,0.23495506259201004],[-0.2956842733304713,0.25015814451571394]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_19","position":[0.5877710729186929,0.10125568272247998,0.71338606911949],"aabb_xy":[[0.5805273068724476,0.02125568451887759],[0.5950148389649382,0.18125568092608235]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_20","position":[-0.21225665684281297,0.5363880905135381,0.71338606911949],"aabb_xy":[[-0.22282413650091196,0.5258430604005295],[-0.20168917718471394,0.5469331206265466]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.4080956629886665,1.419096054417007,0.71338606911949],"aabb_xy":[[0.3911849305523247,1.4056238488243922],[0.42500639542500823,1.4325682600096215]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_22","position":[0.28047053982929626,-1.3415765742348662,0.71338606911949],"aabb_xy":[[0.2154705416733772,-1.3678728187847782],[0.3454705379852153,-1.3152803296849538]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_23","position":[0.49940296712823073,-2.2110652012601024,0.71338606911949],"aabb_xy":[[0.4843006656672126,-2.2261667228911635],[0.5145052685892487,-2.1959636796290396]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_24","position":[-0.5049986056676481,-1.528931049097172,0.71338606911949],"aabb_xy":[[-0.5142922239047986,-1.5664310475853056],[-0.4957049874304974,-1.4914310506090378]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[0.5452477710133983,1.4224985310292726,0.71338606911949],"aabb_xy":[[0.5249634682899994,1.4022159058865635],[0.5655320737367969,1.4427811561719812]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_26","position":[-0.48807197771140753,1.0235390620722278,0.71338606911949],"aabb_xy":[[-0.5330719791776365,0.9785392052107471],[-0.4430719762451788,1.0685389189337084]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_27","position":[-0.20893414776793945,-1.3909025799561472,0.71338606911949],"aabb_xy":[[-0.21377774252916942,-1.3957542324351313],[-0.20409055300670947,-1.386050927477163]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.3162017621481794,-0.6323561813980947,0.71338606911949],"aabb_xy":[[0.22620176272980852,-0.6657316782422843],[0.4062017615665503,-0.5989806845539049]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_29","position":[0.21063561187981672,0.872192251188439,0.71338606911949],"aabb_xy":[[0.19803291274274026,0.8595968549635735],[0.22323831101689318,0.8847876474133045]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995821181627097,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/715.png","name":"715"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/715.png","name":"715"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7382.png","name":"7382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7239.png","name":"7239"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9320.png","name":"9320"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7093.png","name":"7093"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":551.0492164269349,"rotation_z_degrees":105.71309872490711,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010493006188763455,0.007846916926633783,0.009124944978220403]},{"name":"camera_2","offset_m":[0.013373661771293437,0.00914335151479262,0.008459833122754272]},{"name":"camera_3","offset_m":[0.004975721699228587,0.006644898719222282,0.0028803017491737977]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011547481136675152,-0.0005564787972641252,-0.0006577700513330279],"end_effector_yaw_offset_degrees":0.7376785089008149},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014550810654355597,-0.00042316733415943505,0.0005031752101643415],"end_effector_yaw_offset_degrees":0.48817074410584427},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005742777242760495,0.0006803117535544045,-0.0004866239582575868],"end_effector_yaw_offset_degrees":0.44235928596233265},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0003045354095927747,0.001141830366433852,0.00013834396740217613],"end_effector_yaw_offset_degrees":0.6540404194539104},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007748766092238691,0.0008870752796716723,-0.0014924150065513883],"end_effector_yaw_offset_degrees":0.7237423892834651},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005413579276982196,-0.00034901444704306286,0.00037480925251383215],"end_effector_yaw_offset_degrees":-0.358201624025442}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004111562432273628,0.003036632493800242],"position_m":[0.3241115624322736,0.3561366324938003,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0017926630991991063,-0.0019346003014531444],"position_m":[0.1817926630991991,-0.03553460030145314,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007522492982408036,-0.0017560442276535293],"position_m":[0.2712477507017592,-0.36905604422765353,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013427772328069298,-0.00476636468961933],"position_m":[0.339842777232807,0.10373363531038067,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5d032f3d5be90fd946bba6e3c90cc0f42bd44fbf3502e647e4aed3cd078224c2","episode_index":10,"episode_name":"episode_0010"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0010.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_715/tex_ceiling_textures_7093/tex_floor_textures_9320/tex_table_textures_7382/tex_wall_textures_7239","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4070675027328931911,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4070675027328931911,"visual_seed":4070675027328931911,"scene_id":"lab_003","finished_at":"2026-09-06T11:55:00"} +{"episode_id":"ep_000011","started_at":"2026-09-06T11:55:05","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_0","position":[0.3660106463406374,-2.3636356639036196,0.71338606911949],"aabb_xy":[[0.3160106449797502,-2.4136135684790347],[0.4160106477015246,-2.3136577593282035]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.016879976850357026,1.4644721962613514,0.71338606911949],"aabb_xy":[[-0.022212491504970015,1.4591478680161158],[-0.011547462195744044,1.469796524506587]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_2","position":[0.32236629807630357,-0.7581012199329411,0.71338606911949],"aabb_xy":[[0.2848662995006827,-0.7708375155964989],[0.3598662966519243,-0.7453649242693831]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_3","position":[-0.4367352719826988,-0.7493012755704502,0.71338606911949],"aabb_xy":[[-0.4427722849833635,-0.7553279766393985],[-0.43069825898203407,-0.743274574501502]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[0.6149262960960682,-0.15646411594307086,0.71338606911949],"aabb_xy":[[0.5784304754687895,-0.19294805836982842],[0.6514221167233469,-0.1199801735163133]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_5","position":[0.032300197736339076,-1.3146023276277157,0.71338606911949],"aabb_xy":[[-0.03769980439509047,-1.3373642932534109],[0.10230019986776862,-1.2918403620020196]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.5756873290189648,1.7346841787467757,0.71338606911949],"aabb_xy":[[-0.6396873323086728,1.6913492597428579],[-0.5116873257292566,1.7780190977506931]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_7","position":[-0.2940046484386468,1.5097207115789355,0.71338606911949],"aabb_xy":[[-0.32846712645173454,1.5030570343960126],[-0.259542170425559,1.516384388761858]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_8","position":[0.5500202177663598,-1.6365610499250314,0.71338606911949],"aabb_xy":[[0.529735915042961,-1.65684367506774],[0.5703045204897585,-1.6162784247823223]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_9","position":[-0.6436519394002518,-2.243123473800128,0.71338606911949],"aabb_xy":[[-0.6532835756206814,-2.252760786579837],[-0.6340203031798222,-2.2334861610204193]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_10","position":[-0.5086427982278985,1.5452145187113895,0.71338606911949],"aabb_xy":[[-0.5127786545605988,1.5077145192670325],[-0.5045069418951984,1.5827145181557465]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.5986167638403042,1.5654090998936439,0.71338606911949],"aabb_xy":[[0.5899027947903694,1.5429090992344554],[0.6073307328902384,1.5879091005528319]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_12","position":[0.2308525709406971,-1.414586032876816,0.71338606911949],"aabb_xy":[[0.20456374662025645,-1.4408574665314673],[0.2571413952611378,-1.3883145992221648]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_13","position":[-0.16819113523606555,-0.5692619888559127,0.71338606911949],"aabb_xy":[[-0.17352871090207014,-0.5942619897850525],[-0.162853559570061,-0.5442619879267729]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_14","position":[-0.31470960162990447,-0.9271102571034999,0.71338606911949],"aabb_xy":[[-0.34335893399032064,-0.9557558163805756],[-0.2860602692694882,-0.898464697826424]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_15","position":[-0.3459013527435727,0.6749660632984682,0.71338606911949],"aabb_xy":[[-0.38340135324093094,0.6709973797503498],[-0.30840135224621446,0.6789347468465866]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_16","position":[0.5911359581901896,0.6955472897309662,0.71338606911949],"aabb_xy":[[0.5271359609045408,0.6540405707781223],[0.6551359554758381,0.7370540086838102]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_17","position":[-0.6448456385816104,0.5952207696153957,0.71338606911949],"aabb_xy":[[-0.694840471509552,0.5452207707201522],[-0.5948508056536688,0.6452207685106393]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_18","position":[0.38810213330385346,-1.0661003786088563,0.71338606911949],"aabb_xy":[[0.3635885092068476,-1.0903649719108928],[0.4126157574008593,-1.0418357853068199]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.6417438582396902,-0.38072460110105233,0.71338606911949],"aabb_xy":[[0.6049492251147839,-0.4176304761976346],[0.6785384913645964,-0.34381872600447005]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.3759210758718585,1.6736466434458293,0.71338606911949],"aabb_xy":[[0.3119210755978803,1.6235805432485413],[0.43992107614583675,1.7237127436431172]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7050050639500907,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6687.png","name":"6687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6687.png","name":"6687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9761.png","name":"9761"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5639.png","name":"5639"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8740.png","name":"8740"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/812.png","name":"812"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":633.6605741487601,"rotation_z_degrees":144.5226601527478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[2.8713276985187913e-05,0.008154431155593979,0.012690560187742731]},{"name":"camera_2","offset_m":[-0.0007509006354396407,0.008726756565066433,-0.013474396099392263]},{"name":"camera_3","offset_m":[0.00806159091918468,-0.009324560385904773,-0.0032686850214952295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000251829930473758,0.00151441509503766,-0.0008384321525058622],"end_effector_yaw_offset_degrees":0.197651125810679},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0011830875332977226,0.000507745253871093,0.0018101760461878952],"end_effector_yaw_offset_degrees":0.7922074712754588},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-3.783804591086983e-05,-0.0007573756256764334,0.0010793567373439785],"end_effector_yaw_offset_degrees":-0.7126767700613563},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009716910439766207,0.0008700154050854574,0.0015152520275408367],"end_effector_yaw_offset_degrees":-0.21687476952391727},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008883032710895757,-0.0013709266214472465,0.001387175827107782],"end_effector_yaw_offset_degrees":-0.6567118746101035},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009559614605500499,-0.0015883384073128583,-0.0012776097371955863],"end_effector_yaw_offset_degrees":-0.12673971466920908}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0005726340056235804,0.00047175971718303473],"position_m":[0.31942736599437643,0.3535717597171831,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[1.6700593247811688e-05,-0.00012950083028982935],"position_m":[0.1800167005932478,-0.033729500830289826,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004340136653916961,-0.003834025262208056],"position_m":[0.276340136653917,-0.37113402526220807,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003648183685444592,0.0024745919091644945],"position_m":[0.34214818368544464,0.11097459190916449,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9cd5ddfd5be7723e8abae57b29aca9e8424190f24d043902bdd43dfdf0a09016","episode_index":11,"episode_name":"episode_0011"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0011.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6687/tex_ceiling_textures_812/tex_floor_textures_8740/tex_table_textures_9761/tex_wall_textures_5639","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4082533109815658298,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4082533109815658298,"visual_seed":4082533109815658298,"scene_id":"lab_003","finished_at":"2026-09-06T12:02:04"} +{"episode_id":"ep_000012","started_at":"2026-09-06T12:02:11","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.12775568952709426,-0.719105181930989,0.71338606911949],"aabb_xy":[[-0.15230190514984498,-0.7493540784800261],[-0.10320947390434355,-0.688856285381952]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_1","position":[0.08356111505624875,-2.4935152420346047,0.71338606911949],"aabb_xy":[[0.028567903719112005,-2.5485152423733983],[0.13855432639338552,-2.438515241695811]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_2","position":[-0.08009008912460003,1.729574105001554,0.71338606911949],"aabb_xy":[[-0.09615201658311767,1.6445741031889622],[-0.06402816166608238,1.8145741068141459]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_3","position":[-0.2773116910460795,-1.959195738411431,0.71338606911949],"aabb_xy":[[-0.34131169272407685,-2.007713129890745],[-0.21331168936808215,-1.9106783469321167]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.6452387392679773,-0.909522893454678,0.71338606911949],"aabb_xy":[[-0.6584696848026586,-0.9227503124766772],[-0.632007793733296,-0.8962954744326783]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[-0.657390086103719,-2.5431128388465942,0.71338606911949],"aabb_xy":[[-0.6661040551536532,-2.5656128395057816],[-0.6486761170537843,-2.520612838187405]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.21808095773849795,-2.1946173910751074,0.71338606911949],"aabb_xy":[[-0.2980809551420913,-2.27460996227329],[-0.1380809603349045,-2.114624819876924]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_7","position":[0.4839397211254055,-0.9660389439578392,0.71338606911949],"aabb_xy":[[0.4489397219325872,-0.9770059899555015],[0.5189397203182238,-0.9550718979601762]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_8","position":[0.6584263940839641,-0.5828470685497193,0.71338606911949],"aabb_xy":[[0.6209263937917892,-0.586888543950323],[0.6959263943761388,-0.5788055931491157]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_9","position":[0.28660177247445584,-0.6534329195737412,0.71338606911949],"aabb_xy":[[0.27684578296528195,-0.6631954536329756],[0.29635776198362973,-0.6436703855145067]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[0.42622614829254735,-1.9218165630943989,0.71338606911949],"aabb_xy":[[0.3762311373330954,-1.971816562129991],[0.4762211592519994,-1.8718165640588076]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_11","position":[-0.04642832458667534,0.909253033994184,0.71338606911949],"aabb_xy":[[-0.07990749184771628,0.8757739206230771],[-0.012949157325634411,0.9427321473652911]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[0.5189767118201967,-0.7121368553360972,0.71338606911949],"aabb_xy":[[0.5150162280504623,-0.7198047199216178],[0.522937195589931,-0.7044689907505766]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[0.40908850784550466,0.6685120359549073,0.71338606911949],"aabb_xy":[[0.37158850734814636,0.6645433524067887],[0.44658850834286284,0.6724807195030256]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_14","position":[0.6155312623010349,0.6501305981741239,0.71338606911949],"aabb_xy":[[0.6061137877311722,0.6407144210364049],[0.6249487368708977,0.6595467753118429]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_15","position":[-0.2840211378618976,-1.4279701531644275,0.71338606911949],"aabb_xy":[[-0.34802113497400333,-1.4770025229588382],[-0.22002114074979195,-1.378937783370017]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[0.028567439545218565,0.9955812281329237,0.71338606911949],"aabb_xy":[[-0.008932561970413148,0.9843544551167784],[0.06606744106085027,1.0068080011490685]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_17","position":[0.2684680869723094,1.4578513350896087,0.71338606911949],"aabb_xy":[[0.2575623108847466,1.3778513386907796],[0.27937386305987205,1.537851331488438]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.6227516778706852,-1.8301506862956265,0.71338606911949],"aabb_xy":[[-0.6927516794729647,-1.843583479497284],[-0.5527516762684057,-1.816717893093969]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_19","position":[-0.10625993641294385,-0.020543966884939646,0.71338606911949],"aabb_xy":[[-0.11428620704356986,-0.02929546186229226],[-0.09823366578231786,-0.011792471907587032]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[0.5349092219155402,-2.343373361922435,0.71338606911949],"aabb_xy":[[0.5004468745173982,-2.3778672443202566],[0.5693715693136818,-2.3088794795246113]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_21","position":[0.4296332458575982,-1.6055547729311914,0.71338606911949],"aabb_xy":[[0.404633246585636,-1.6219001365273538],[0.45463324512956055,-1.589209409335029]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.15332215483968104,-1.4066944789387945,0.71338606911949],"aabb_xy":[[0.14590969929829256,-1.4125456893604225],[0.1607346103810695,-1.4008432685171666]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_23","position":[-0.46741506094365937,-0.11851626846514929,0.71338606911949],"aabb_xy":[[-0.4919286850406653,-0.14278086176718574],[-0.44290143684665356,-0.09425167516311284]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_24","position":[-0.3888596179975558,1.7775274016802816,0.71338606911949],"aabb_xy":[[-0.4388596190166912,1.7410611859424536],[-0.3388596169784206,1.8139936174181095]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_25","position":[0.2581920382209968,-0.9734444910818405,0.71338606911949],"aabb_xy":[[0.23630229063205602,-1.0634444883710896],[0.2800817858099376,-0.8834444937925915]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7034946861987699,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/881.png","name":"881"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/514.png","name":"514"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9110.png","name":"9110"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4483.png","name":"4483"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/764.png","name":"764"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":800.6202586395292,"rotation_z_degrees":154.99995944622015,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.019881319854435028,0.011878765477418788,0.008873664966854627]},{"name":"camera_2","offset_m":[0.0022842562463332126,0.0026376769311770507,-0.019560043487404956]},{"name":"camera_3","offset_m":[-0.011675096077643063,0.01773585783479203,0.005016218756721837]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013646917982501933,-0.0010450881111837324,-0.0006897662655900199],"end_effector_yaw_offset_degrees":0.8550718193044058},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004887161003580256,-8.175935995945985e-05,0.0018226899265301223],"end_effector_yaw_offset_degrees":-0.24879969051177286},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00010058927739627901,-0.0017219202816604723,-0.0009289685949281728],"end_effector_yaw_offset_degrees":-0.05547165941406651},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017163876710780896,-0.0012825751566831088,-0.0013681153912568586],"end_effector_yaw_offset_degrees":-0.1272122822732129},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00046556693452173056,-0.0016087428867434706,0.00015493155129572096],"end_effector_yaw_offset_degrees":0.3050526007172656},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008562295683878119,0.0004851545855529887,-0.0013032875351912461],"end_effector_yaw_offset_degrees":-0.803445281461336}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004608993097327385,-7.545052218794167e-05],"position_m":[0.31539100690267263,0.3530245494778121,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0026292851616949355,-0.00120844008839171],"position_m":[0.18262928516169494,-0.03480844008839171,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029642732327564,-0.0031869941882547983],"position_m":[0.2749642732327564,-0.3704869941882548,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0045195920878279,0.0006427066510026978],"position_m":[0.3430195920878279,0.1091427066510027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c577e4dac72efe319cd2500f899f483f1e5f704c9f18db02ddbe68c7c20d8259","episode_index":12,"episode_name":"episode_0012"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0012.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_881/tex_ceiling_textures_764/tex_floor_textures_4483/tex_table_textures_514/tex_wall_textures_9110","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2323074764379003958,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2323074764379003958,"visual_seed":2323074764379003958,"scene_id":"lab_003","finished_at":"2026-09-06T12:08:30"} +{"episode_id":"ep_000013","started_at":"2026-09-06T12:08:36","dimensions":{"distractor":{"count":28,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[-0.3772672896131142,-1.955627352000042,0.71338606911949],"aabb_xy":[[-0.43226728781485896,-1.9961493186264794],[-0.3222672914113693,-1.9151053853736042]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_1","position":[0.5944122272144841,-1.5526515700748196,0.71338606911949],"aabb_xy":[[0.5851186089773334,-1.5901515685629533],[0.6037058454516345,-1.5151515715866855]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_2","position":[-0.438246500345402,-0.7585661735973959,0.71338606911949],"aabb_xy":[[-0.4998372595693949,-0.8225661717064429],[-0.37665574112140926,-0.6945661754883491]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_3","position":[-0.5979937372467388,-2.4143124991096343,0.71338606911949],"aabb_xy":[[-0.6106205245339351,-2.423858572811207],[-0.5853669499595424,-2.4047664254080607]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_4","position":[-0.43171473461175985,-0.4093053160848825,0.71338606911949],"aabb_xy":[[-0.4867069852472709,-0.46430531782819534],[-0.376722483976249,-0.35430531434156975]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.22861345079779816,-0.5848788248464194,0.71338606911949],"aabb_xy":[[0.2239783356455647,-0.5887461599235679],[0.2332485659500315,-0.5810114897692706]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_6","position":[0.6142184560232156,-2.5276425834580802,0.71338606911949],"aabb_xy":[[0.5502184541108733,-2.5835537327160907],[0.678218457935558,-2.47173143420007]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.24157280204313542,-1.0717565680466288,0.71338606911949],"aabb_xy":[[-0.27907280322792816,-1.0761747907426888],[-0.2040728008583426,-1.0673383453505678]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_8","position":[0.12974835874668567,1.5744163336977857,0.71338606911949],"aabb_xy":[[0.06474836018961283,1.5446638002839028],[0.1947483573037585,1.604168867111668]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_9","position":[0.6009897752193669,-1.4074124361604643,0.71338606911949],"aabb_xy":[[0.5369897788237938,-1.4713757245791979],[0.66498977161494,-1.3434491477417307]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[0.4002682267262425,0.9713091002262448,0.71338606911949],"aabb_xy":[[0.3922742381485391,0.9633090201311545],[0.4082622153039459,0.9793091803213352]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_11","position":[-0.34598889118710235,1.0892917286154935,0.71338606911949],"aabb_xy":[[-0.4359888906054732,1.0559162317713038],[-0.2559888917687314,1.1226672254596832]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_12","position":[-0.24851342944611798,1.6029672407091913,0.71338606911949],"aabb_xy":[[-0.2844269338711076,1.567053732492437],[-0.21259992502112826,1.638880748925946]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_13","position":[0.14973016531369032,1.1427230299937707,0.71338606911949],"aabb_xy":[[0.1152678179155485,1.1082291475959476],[0.1841925127118321,1.177216912391593]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_14","position":[-0.3971614523879915,-1.0022309683729054,0.71338606911949],"aabb_xy":[[-0.4571614540309133,-1.0542311176648496],[-0.3371614507450696,-0.9502308190809612]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.37514176796326537,-1.068765423806527,0.71338606911949],"aabb_xy":[[0.3670140797699522,-1.0776790322172345],[0.38326945615657865,-1.0598518153958194]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_16","position":[0.6171337927437881,-1.137832432191767,0.71338606911949],"aabb_xy":[[0.5531337963164662,-1.1850020560138637],[0.68113378917111,-1.0906628083696708]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_17","position":[0.372303355017795,0.5448145183717004,0.71338606911949],"aabb_xy":[[0.3173078771971356,0.4898145169377933],[0.4272988328384544,0.5998145198056072]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_18","position":[-0.27258737544395456,-0.6244367924912233,0.71338606911949],"aabb_xy":[[-0.33258737630476726,-0.6758632224977096],[-0.21258737458314167,-0.5730103624847368]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[0.623022581182197,0.08598878719610337,0.71338606911949],"aabb_xy":[[0.5862279480572907,0.04908291209952109],[0.6598172143071033,0.12289466229268564]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_20","position":[-0.5759561330925234,0.03633065159591853,0.71338606911949],"aabb_xy":[[-0.6399561347705206,-0.012186739883395699],[-0.5119561314145259,0.08484804307523275]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_21","position":[0.5837611252367665,0.48373479249120166,0.71338606911949],"aabb_xy":[[0.5592475011397606,0.45947019918916526],[0.6082747493337723,0.5079993857932381]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_22","position":[0.27993362985036163,1.7017158718788337,0.71338606911949],"aabb_xy":[[0.25743720841649753,1.6792158720720862],[0.30243005128422573,1.724215871685581]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.46632861634197054,0.9136444089781031,0.71338606911949],"aabb_xy":[[-0.5163286173611059,0.8771781932402754],[-0.4163286153228354,0.9501106247159312]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.027245883202723253,-1.3356267333272827,0.71338606911949],"aabb_xy":[[0.014778525092987604,-1.3480920579606064],[0.0397132413124589,-1.3231614086939594]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_25","position":[-0.2725431229396978,0.28285074872346616,0.71338606911949],"aabb_xy":[[-0.33254312344755066,0.22600401503754483],[-0.21254312243184484,0.3396974824093874]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_26","position":[0.25402155872414944,-1.7901002466353164,0.71338606911949],"aabb_xy":[[0.24318108049763454,-1.8072865279259651],[0.26486203695066435,-1.7729139653446677]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_27","position":[0.1780755832533477,1.3070612150708887,0.71338606911949],"aabb_xy":[[0.14307558498322778,1.2999870873759003],[0.2130755815234676,1.3141353427658766]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964508518643047,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1320.png","name":"1320"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/932.png","name":"932"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2602.png","name":"2602"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2942.png","name":"2942"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5019.png","name":"5019"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":815.2080634213905,"rotation_z_degrees":25.641679741630057,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010110802564234618,0.01547975755059457,-0.01132297766724025]},{"name":"camera_2","offset_m":[0.004848204058282186,-0.010208540544366138,0.008799159157210617]},{"name":"camera_3","offset_m":[0.01774103587125127,0.0009124184434810695,-0.009686481231243165]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.157702545153218e-08,-0.0017140675937531206,0.0016999071575125226],"end_effector_yaw_offset_degrees":-0.42943836535725044},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00020891523713212974,-0.0006143265884950542,0.0011349185789685232],"end_effector_yaw_offset_degrees":0.8971823016482785},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000916972035664342,0.000706671259092908,-0.0014206675766735546],"end_effector_yaw_offset_degrees":0.011120151945572587},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009625850147907769,-0.0011921803078583997,0.0005489808775694448],"end_effector_yaw_offset_degrees":0.5594352088427998},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[1.2144139138113748e-05,-0.0019963137375478605,0.0008669505448342784],"end_effector_yaw_offset_degrees":-0.5532153185311353},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0006839520956263732,0.0007870576657409371,0.0019076208200637344],"end_effector_yaw_offset_degrees":0.8482500734876095}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00015534459077477195,-0.0015554828107826367],"position_m":[0.31984465540922524,0.35154451718921736,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038055548928137293,0.00010547666599366231],"position_m":[0.17619444510718626,-0.033494523334006335,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0012815527064148425,0.0033495152048314296],"position_m":[0.2707184472935852,-0.36395048479516856,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008685102545217026,-0.004487840101126596],"position_m":[0.3376314897454783,0.1040121598988734,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"85c27270e3ccf4df0f3ed0a2b250769005b537a8412f0d5464ccee14bc126420","episode_index":13,"episode_name":"episode_0013"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0013.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_1320/tex_ceiling_textures_5019/tex_floor_textures_2942/tex_table_textures_932/tex_wall_textures_2602","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8089870901338282539,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8089870901338282539,"visual_seed":8089870901338282539,"scene_id":"lab_003","finished_at":"2026-09-06T12:15:05"} +{"episode_id":"ep_000014","started_at":"2026-09-06T12:15:13","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_0","position":[0.2601203372222395,-1.8993458891399728,0.71338606911949],"aabb_xy":[[0.20512485940158004,-1.9543458905738798],[0.3151158150428988,-1.844345887706066]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_1","position":[0.4868448170035471,0.8228745196137854,0.71338606911949],"aabb_xy":[[0.46916918641494876,0.8051943033343826],[0.5045204475921454,0.8405547358931881]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_2","position":[-0.2781060626311653,-0.13945050868269204,0.71338606911949],"aabb_xy":[[-0.3193548736610799,-0.1944505081949095],[-0.23685725160125046,-0.0844505091704746]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.6096343821301853,1.3819577178248381,0.71338606911949],"aabb_xy":[[0.5987827758813097,1.3710984270971873],[0.6204859883790609,1.3928170085524894]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_4","position":[0.5599071082057765,1.7181390118286317,0.71338606911949],"aabb_xy":[[0.5047819025761856,1.6581390103873441],[0.6150323138353672,1.7781390132699184]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_5","position":[0.6466627095351558,0.7291733645423752,0.71338606911949],"aabb_xy":[[0.6123464323605379,0.6791733645691975],[0.6809789867097737,0.779173364515553]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_6","position":[-0.04684632605165262,1.075807210117007,0.71338606911949],"aabb_xy":[[-0.0718463256033911,1.0656647262518724],[-0.021846326499914137,1.0859496939821418]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_7","position":[-0.14213266786675394,-1.4115169303404078,0.71338606911949],"aabb_xy":[[-0.1919494473315887,-1.461516928824711],[-0.09231588840191918,-1.3615169318561042]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_8","position":[-0.0037381209832169082,1.5177095995752077,0.71338606911949],"aabb_xy":[[-0.09373812070639108,1.4946362470400276],[0.08626187873995726,1.5407829521103873]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_9","position":[0.29922241494371105,0.6986616826675851,0.71338606911949],"aabb_xy":[[0.26172241483811803,0.691839520814604],[0.33672241504930395,0.7054838445205662]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_10","position":[0.20330624150895116,-0.8913893890899072,0.71338606911949],"aabb_xy":[[0.19401262327180055,-0.928889387578041],[0.2125998597461017,-0.8538893906017732]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_11","position":[0.3794554408048525,1.3652480617097749,0.71338606911949],"aabb_xy":[[0.3713277526115393,1.356334453299067],[0.3875831289981657,1.3741616701204826]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_12","position":[-0.5158535470367565,-1.0500938815158136,0.71338606911949],"aabb_xy":[[-0.5470004658803396,-1.1200938802026206],[-0.48470662819317334,-0.9800938828290062]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_13","position":[0.3056146507835211,-0.8879265929765696,0.71338606911949],"aabb_xy":[[0.29833233440685736,-0.9779265965860785],[0.31289696716018467,-0.7979265893670605]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_14","position":[-0.1320594201406048,-1.0346780108972053,0.71338606911949],"aabb_xy":[[-0.14342115479389095,-1.0460464773034934],[-0.12069768548731863,-1.0233095444909173]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_15","position":[-0.16636723839442868,0.23459785138226597,0.71338606911949],"aabb_xy":[[-0.1745817835101126,0.22592126108462465],[-0.15815269327874465,0.24327444167990722]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_16","position":[-0.471372718384958,-2.1205194155702203,0.71338606911949],"aabb_xy":[[-0.5413727147949197,-2.140957351221901],[-0.40137272197499607,-2.1000814799185377]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.6704793021308915,1.0133471484147463,0.71338606911949],"aabb_xy":[[0.6454793021983736,1.0064644801938232],[0.6954793020634094,1.0202298166356698]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[0.6434742059012708,-1.4218568727267795,0.71338606911949],"aabb_xy":[[0.5858437370139998,-1.48185687165349],[0.7011046747885415,-1.3618568738000687]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_19","position":[0.21877803002693286,-1.592150057639785,0.71338606911949],"aabb_xy":[[0.18192748208994525,-1.6296500584628186],[0.25562857796392047,-1.5546500568167512]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_20","position":[0.3038436780687914,-2.3194255947236053,0.71338606911949],"aabb_xy":[[0.29992980487336884,-2.3281746101301617],[0.3077575512642139,-2.310676579317048]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_21","position":[0.6444924799114051,-0.9067385322938948,0.71338606911949],"aabb_xy":[[0.6219924799012568,-0.9208347519334982],[0.6669924799215534,-0.8926423126542916]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.693669882390665,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9013.png","name":"9013"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1177.png","name":"1177"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8903.png","name":"8903"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7749.png","name":"7749"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5833.png","name":"5833"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":754.2360303713003,"rotation_z_degrees":189.86056062179856,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01151409713621279,0.0038539722488431134,0.0046137533195643905]},{"name":"camera_2","offset_m":[-0.01692186592114086,0.009395817632596865,-0.0041761828576824984]},{"name":"camera_3","offset_m":[0.010346356815301095,0.005366439585200496,-0.017288939337970693]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0015429823987468724,-0.0009257664247410871,-0.0011319074730066112],"end_effector_yaw_offset_degrees":-0.6770054674371846},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0009574646712046154,-5.485454081721069e-05,-0.0019793662528513984],"end_effector_yaw_offset_degrees":-0.7757590344040892},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017646356535221295,0.0016690286517547378,-0.0005274089233168629],"end_effector_yaw_offset_degrees":-0.8907905071141475},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000967856443620223,-0.0002070816376792677,-0.0004295015975743985],"end_effector_yaw_offset_degrees":0.2784596947647191},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001355778578068982,0.0012395864238205416,-0.0005766476381202307],"end_effector_yaw_offset_degrees":0.48657124680419095},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015854996756668339,0.001869093761026213,-0.0005831885134562],"end_effector_yaw_offset_degrees":-0.14653960897012008}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0038823631400957655,0.0016566365236865763],"position_m":[0.3238823631400958,0.3547566365236866,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004316313441161095,-0.004236301182793778],"position_m":[0.1756836865588389,-0.037836301182793776,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0046528566120746205,0.0031759154521919667],"position_m":[0.2673471433879254,-0.36412408454780804,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0016041390302375769,-0.00485090359196822],"position_m":[0.33689586096976243,0.10364909640803179,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ddb25291e9a08f06a18a431fe4e74162f348246d9e2957b3f2fbd29290e5a6b7","episode_index":14,"episode_name":"episode_0014"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0014.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9013/tex_ceiling_textures_5833/tex_floor_textures_7749/tex_table_textures_1177/tex_wall_textures_8903","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6952145855184368594,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6952145855184368594,"visual_seed":6952145855184368594,"scene_id":"lab_003","finished_at":"2026-09-06T12:22:06"} +{"episode_id":"ep_000015","started_at":"2026-09-06T12:22:13","dimensions":{"distractor":{"count":26,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.46060199944314106,-1.7136034740945627,0.71338606911949],"aabb_xy":[[-0.4737532454144305,-1.7386034738512495],[-0.44745075347185176,-1.6886034743378764]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.5645393337814784,-2.0564957699591755,0.71338606911949],"aabb_xy":[[-0.5820393329158454,-2.066375396996763],[-0.5470393346471111,-2.0466161429215872]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.09315946333162273,-0.48647955700584733,0.71338606911949],"aabb_xy":[[-0.10078373142180098,-0.49411278054239105],[-0.08553519524144448,-0.4788463334693036]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.6861865797712376,0.8419589078169465,0.71338606911949],"aabb_xy":[[0.6774886174805224,0.829833933509472],[0.6948845420619529,0.8540838821244214]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_4","position":[-0.3712232760068077,0.9084297584430905,0.71338606911949],"aabb_xy":[[-0.38097926551598155,0.8986672243838559],[-0.36146728649763377,0.9181922925023248]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_5","position":[-0.40943705213690595,-1.3897788647517753,0.71338606911949],"aabb_xy":[[-0.4133975359066403,-1.3974467293372959],[-0.4054765683671716,-1.3821110001662547]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_6","position":[0.4686094986467404,-1.5357190837330434,0.71338606911949],"aabb_xy":[[0.4646956254513178,-1.5444680991396],[0.47252337184216286,-1.5269700683264864]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_7","position":[0.04395784736984021,1.3231380471917666,0.71338606911949],"aabb_xy":[[-0.020042153333629135,1.2771196647188456],[0.10795784807330958,1.3691564296646876]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_8","position":[0.18056009954158658,-2.25464152188868,0.71338606911949],"aabb_xy":[[0.10056010213799317,-2.3346340930868625],[0.26056009694518,-2.174648950690497]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_9","position":[-0.47519109395796144,0.2812713377119995,0.71338606911949],"aabb_xy":[[-0.5035208039065017,0.2768105955182825],[-0.4468613840094212,0.28573207990571664]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_10","position":[-0.29908470542877047,-0.6538856465762701,0.71338606911949],"aabb_xy":[[-0.3070786940064738,-0.6618857266713604],[-0.291090716851067,-0.6458855664811797]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_11","position":[-0.5938655857218647,1.3236740320358384,0.71338606911949],"aabb_xy":[[-0.599960213609983,1.3151046374841697],[-0.5877709578337463,1.3322434265875072]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_12","position":[-0.40976223358648234,1.3574115094972208,0.71338606911949],"aabb_xy":[[-0.4170445499631458,1.2674115058877116],[-0.4024799172098185,1.4474115131067296]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.11854650537304534,0.7748918522371642,0.71338606911949],"aabb_xy":[[0.03854650394291814,0.6953746972245547],[0.19854650680317254,0.8544090072497736]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[0.4303817893861319,-1.9979849496994255,0.71338606911949],"aabb_xy":[[0.34038178705211286,-2.075467304284538],[0.520381791720151,-1.9205025951143129]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_15","position":[-0.666215965114329,-0.9098175786587308,0.71338606911949],"aabb_xy":[[-0.6716739107513492,-0.9898175819663897],[-0.660758019477309,-0.8298175753510715]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_16","position":[0.3659450060296605,-2.4812823247174576,0.71338606911949],"aabb_xy":[[0.3484450725956771,-2.498782324637692],[0.38344493946364383,-2.463782324797223]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_17","position":[-0.23691612904379344,-0.7935305112811619,0.71338606911949],"aabb_xy":[[-0.2719161290202893,-0.8029951273287785],[-0.2019161290672976,-0.7840658952335453]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_18","position":[0.5328362162659137,-2.5291833129036023,0.71338606911949],"aabb_xy":[[0.5076153794060739,-2.554407063756489],[0.5580570531257533,-2.503959562050715]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.6201149178491152,-0.37517081819798337,0.71338606911949],"aabb_xy":[[-0.6576149185136937,-0.3908578761982055],[-0.5826149171845363,-0.3594837601977611]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_20","position":[0.6185390038153711,1.5078691513416431,0.71338606911949],"aabb_xy":[[0.6029832344051058,1.492318718097236],[0.6340947732256363,1.5234195845860505]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[-0.6430059866056532,-2.2026535563082414,0.71338606911949],"aabb_xy":[[-0.678005986501672,-2.2110277918201815],[-0.6080059867096342,-2.1942793207963014]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[-0.09223887640363893,0.6733022566683617,0.71338606911949],"aabb_xy":[[-0.12973887650923185,0.6664800948153805],[-0.05473887629804596,0.6801244185213428]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_23","position":[-0.3983392632713891,-2.160106957323447,0.71338606911949],"aabb_xy":[[-0.43265554044600707,-2.2101069572966248],[-0.3640229860967712,-2.1101069573502693]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.31261252642468995,-1.0627131929378753,0.71338606911949],"aabb_xy":[[0.22261252968907974,-1.1158966562551695],[0.40261252316030016,-1.0095297296205805]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[0.4589352498003978,-0.9422937047426978,0.71338606911949],"aabb_xy":[[0.4454887231663544,-0.9557635563957891],[0.47238177643444107,-0.9288238530896067]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7013289811277849,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8597.png","name":"8597"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4470.png","name":"4470"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6319.png","name":"6319"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1868.png","name":"1868"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4030.png","name":"4030"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":532.6961265591042,"rotation_z_degrees":171.88144615887285,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.017281046563310868,0.014044133561441356,0.019809710800844486]},{"name":"camera_2","offset_m":[-0.018626844445643522,0.011295587780789988,-0.008939283775394461]},{"name":"camera_3","offset_m":[0.006773810442645595,0.012347919709778814,-0.0028484898854506564]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001841900372026281,0.0010873633286410714,0.0007886126177638958],"end_effector_yaw_offset_degrees":0.3854309337778139},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0015184823730515463,0.0019540323064954823,-0.0017096198158533574],"end_effector_yaw_offset_degrees":0.4135944344575295},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001898639093324007,-0.00042117871741108987,0.0010583731056437186],"end_effector_yaw_offset_degrees":0.5597834641733657},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00021559513629385582,-0.00024154008432086599,-0.000820882496692538],"end_effector_yaw_offset_degrees":0.7347937417646022},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001413398367831169,-0.0009801338973465614,-0.0015502424235446343],"end_effector_yaw_offset_degrees":0.8525403485172784},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007102411884366516,-0.0007403457081831709,-2.919231806241835e-05],"end_effector_yaw_offset_degrees":0.18301924586385088}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0021433240699753353,0.0038635133044596015],"position_m":[0.31785667593002465,0.35696351330445963,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002107523207781843,0.000673220738836227],"position_m":[0.18210752320778184,-0.032926779261163774,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003675294120192219,0.0021050733747166603],"position_m":[0.27567529412019226,-0.36519492662528336,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[2.5052882190831037e-05,-0.0025985571822346567],"position_m":[0.33852505288219087,0.10590144281776534,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"66aaddb8f0d04181450528a91695c22d83108391376f21a26139f063da5fcb10","episode_index":15,"episode_name":"episode_0015"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0015.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_8597/tex_ceiling_textures_4030/tex_floor_textures_1868/tex_table_textures_4470/tex_wall_textures_6319","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3563020733500307886,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3563020733500307886,"visual_seed":3563020733500307886,"scene_id":"lab_003","finished_at":"2026-09-06T12:28:30"} +{"episode_id":"ep_000016","started_at":"2026-09-06T12:28:36","dimensions":{"distractor":{"count":25,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[0.5313148220627115,0.09514736908380472,0.71338606911949],"aabb_xy":[[0.4763216107255748,0.04014736874501112],[0.5863080333998483,0.15014736942259832]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[-0.568091089141401,0.3728288996151745,0.71338606911949],"aabb_xy":[[-0.6141761803961325,0.30882890236261934],[-0.5220059978866696,0.4368288968677296]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_2","position":[0.2689954786321974,-1.0656478982059734,0.71338606911949],"aabb_xy":[[0.2501110948636872,-1.0845338229863262],[0.2878798624007076,-1.0467619734256206]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_3","position":[0.14447104635797792,1.207327484285814,0.71338606911949],"aabb_xy":[[0.08047104777140543,1.1603205208863052],[0.20847104494455035,1.2543344476853227]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_4","position":[0.11137655780592837,-2.2135268358434317,0.71338606911949],"aabb_xy":[[0.04637655965000931,-2.2398230803933443],[0.17637655596184743,-2.18723059129352]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_5","position":[-0.24357349989079136,0.380981078943476,0.71338606911949],"aabb_xy":[[-0.281073501406423,0.36975430592733094],[-0.2060734983751596,0.39220785195962105]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.26749586754294863,1.0550112668899967,0.71338606911949],"aabb_xy":[[0.20249586643700535,1.0300458938218684],[0.3324958686488919,1.079976639958125]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_7","position":[0.3374473409122465,1.2201627391473813,0.71338606911949],"aabb_xy":[[0.27344734448492464,1.172993115325285],[0.40144733733956844,1.267332362969478]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_8","position":[0.08051494529265613,-0.8035937751476414,0.71338606911949],"aabb_xy":[[0.025519467471996723,-0.8585937765815482],[0.13551042311331551,-0.7485937737137344]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.46274922602327706,-2.0912040252724107,0.71338606911949],"aabb_xy":[[0.44246492329987824,-2.111486650415119],[0.48303352874667577,-2.0709214001297016]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_10","position":[-0.4339311455639355,-0.0918893020733842,0.71338606911949],"aabb_xy":[[-0.4689311438340554,-0.09896342976837234],[-0.39893114729381557,-0.08481517437839602]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_11","position":[-0.08329768825275896,0.3881642542141508,0.71338606911949],"aabb_xy":[[-0.10079768738712612,0.37828462717656297],[-0.06579768911839178,0.3980438812517386]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_12","position":[-0.33630275028980644,0.870233855966235,0.71338606911949],"aabb_xy":[[-0.4163027505634134,0.7972843081405182],[-0.25630275001619945,0.9431834037919516]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_13","position":[-0.29869267544312317,-1.3803558366224022,0.71338606911949],"aabb_xy":[[-0.3079862936802737,-1.417855835110536],[-0.28939905720597253,-1.3428558381342681]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_14","position":[-0.5115389161603197,-0.47831655475579726,0.71338606911949],"aabb_xy":[[-0.5290856110764385,-0.5158165563200485],[-0.4939922212442006,-0.440816553191546]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.27340021820163374,-1.4784939586032055,0.71338606911949],"aabb_xy":[[0.2657759501114555,-1.4861271821397493],[0.281024486291812,-1.4708607350666618]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.16688461010591993,-0.9427233654976568,0.71338606911949],"aabb_xy":[[-0.18938460991982234,-0.9471979818681376],[-0.14438461029201757,-0.9382487491271762]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_17","position":[-0.2311228901920877,-2.5787514393596296,0.71338606911949],"aabb_xy":[[-0.23523884030416034,-2.5828669943924747],[-0.227006940080015,-2.5746358843267836]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_18","position":[-0.5790142068791695,-0.24355519427856676,0.71338606911949],"aabb_xy":[[-0.6590142040387448,-0.2551027952363838],[-0.4990142097195942,-0.2320075933207497]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_19","position":[-0.38276339018937816,-2.021441737324341,0.71338606911949],"aabb_xy":[[-0.39291640574352743,-2.057511278897081],[-0.3726103746352287,-1.9853721957516002]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_20","position":[0.3928600078054405,-1.3436774487986773,0.71338606911949],"aabb_xy":[[0.3810918210107831,-1.4286774487038991],[0.40462819460009813,-1.258677448893456]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_21","position":[-0.11038703097959168,0.007105096711104153,0.71338606911949],"aabb_xy":[[-0.12046873805816516,-0.0728949011810105],[-0.1003053239010182,0.0871050946032188]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_22","position":[0.26916250330732394,1.6285045065222827,0.71338606911949],"aabb_xy":[[0.231662503201731,1.6216823446693018],[0.3066625034129169,1.635326668375264]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_23","position":[0.46389648777111536,1.0432903006188288,0.71338606911949],"aabb_xy":[[0.3838964873008995,1.0349795930044805],[0.5438964882413313,1.051601008233177]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_24","position":[-0.05483303168583731,1.2427053962086716,0.71338606911949],"aabb_xy":[[-0.13482685526439553,1.16270539361583],[0.025160791892720906,1.3227053988015132]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.702371620084278,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/588.png","name":"588"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2796.png","name":"2796"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7886.png","name":"7886"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4348.png","name":"4348"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9026.png","name":"9026"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":732.5224727717145,"rotation_z_degrees":44.28621375266249,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.001671184901119737,-0.019469753945152345,-0.012416906384530493]},{"name":"camera_2","offset_m":[0.01485329336831637,-0.010898614188439733,-0.0071417618919154355]},{"name":"camera_3","offset_m":[0.005296422242862239,0.01239871511943064,0.01845660924120882]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009964163997054608,-0.001070123500320342,-0.001071606977421332],"end_effector_yaw_offset_degrees":0.01397498523686802},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0007192796941054335,-0.0013811977684319565,-0.001404207446788729],"end_effector_yaw_offset_degrees":0.47887907479590797},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010244378859981915,-0.0008012760157386182,-0.00022046964510110192],"end_effector_yaw_offset_degrees":0.18543521903342564},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001186775842699717,0.0016506841851457398,-0.001327702747375742],"end_effector_yaw_offset_degrees":-0.8139442793717588},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.859085701157691e-05,0.0009925110491991506,-0.00033214032512896637],"end_effector_yaw_offset_degrees":0.9126417004116052},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003291028968244968,0.000875900361673591,0.0018473123237801622],"end_effector_yaw_offset_degrees":-0.8612237393727891}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015200537415330849,-0.001810774924525659],"position_m":[0.31847994625846693,0.3512892250754744,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0048880005045586076,-0.0016141554757899048],"position_m":[0.18488800050455861,-0.035214155475789904,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003019079033201851,-0.0009610662965044026],"position_m":[0.2750190790332019,-0.3682610662965044,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0031675137746350846,0.0019841378029337806],"position_m":[0.33533248622536493,0.11048413780293379,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1cb6a54ded14ef0461179f8cd85eb863871efc7b11a1a08331b61f843dcba7c9","episode_index":16,"episode_name":"episode_0016"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0016.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_588/tex_ceiling_textures_9026/tex_floor_textures_4348/tex_table_textures_2796/tex_wall_textures_7886","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":409429646550250880,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":409429646550250880,"visual_seed":409429646550250880,"scene_id":"lab_003","finished_at":"2026-09-06T12:35:06"} +{"episode_id":"ep_000017","started_at":"2026-09-06T12:35:13","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_0","position":[0.42654973542785846,1.0896968819445227,0.71338606911949],"aabb_xy":[[0.4205127224271938,1.0836701808755749],[0.43258674842852324,1.095723583013471]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[0.4203964587602296,0.45787326536752815,0.71338606911949],"aabb_xy":[[0.41277219067005133,0.4502400418309845],[0.4280207268504078,0.4655064889040719]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_2","position":[0.2183216520463348,-1.3876295108027772,0.71338606911949],"aabb_xy":[[0.1770171089825988,-1.451629510370894],[0.2596261951100708,-1.3236295112346599]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_3","position":[-0.6596281805416325,0.6271388482910845,0.71338606911949],"aabb_xy":[[-0.6771281808009691,0.6130473061023118],[-0.6421281802822959,0.6412303904798571]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_4","position":[0.2363443492319851,1.15886114547739,0.71338606911949],"aabb_xy":[[0.18634507406354894,1.1088611442014429],[0.28634362440042127,1.2088611467533372]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_5","position":[0.5676894689583096,1.328346416562392,0.71338606911949],"aabb_xy":[[0.518209047744351,1.2643464186495403],[0.6171698901722685,1.392346414475244]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_6","position":[0.29386179258121536,1.4521341804677488,0.71338606911949],"aabb_xy":[[0.26553208263267514,1.4476734382740315],[0.3221915025297556,1.4565949226614656]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.1009645985468719,-2.4569062631263474,0.71338606911949],"aabb_xy":[[-0.1378151464838595,-2.4944062639493816],[-0.0641140506098843,-2.419406262303314]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.12778133910050948,-0.6512764344432693,0.71338606911949],"aabb_xy":[[-0.14528133934555884,-0.6687762222828361],[-0.11028133885546008,-0.6337766466037024]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_9","position":[0.4628834240473434,0.9659514793816935,0.71338606911949],"aabb_xy":[[0.382883426887768,0.9544038784238764],[0.5428834212069186,0.9774990803395105]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_10","position":[-0.4041513545275784,1.0818515379877627,0.71338606911949],"aabb_xy":[[-0.4216512879615617,1.0643515380675281],[-0.38665142109359496,1.0993515379079972]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_11","position":[0.5540206134245895,-1.455079175603217,0.71338606911949],"aabb_xy":[[0.5388484441429562,-1.4702480325314207],[0.5691927827062229,-1.439910318675014]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_12","position":[0.25233057567913564,-2.027540028449777,0.71338606911949],"aabb_xy":[[0.20244787880143944,-2.077540027696052],[0.30221327255683184,-1.9775400292035026]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.29587758595357977,0.2675767054804785,0.71338606911949],"aabb_xy":[[-0.38587758268919,0.214393242163184],[-0.20587758921796956,0.320760168797773]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_14","position":[-0.1075500071413118,1.4410049949905708,0.71338606911949],"aabb_xy":[[-0.11146388033673432,1.4322559795840142],[-0.10363613394588927,1.4497540103971278]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.01285425684288155,-0.7038775948819391,0.71338606911949],"aabb_xy":[[-0.06285425779341436,-0.7354267418854605],[0.03714574410765126,-0.6723284478784177]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[0.513165865042243,-1.3496551024425916,0.71338606911949],"aabb_xy":[[0.47939030585155007,-1.3636935976557565],[0.546941424232936,-1.3356166072294267]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_17","position":[0.03575495693445696,1.3760429218620795,0.71338606911949],"aabb_xy":[[-0.019238254402679806,1.3210429215232862],[0.09074816827159371,1.4310429222008734]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_18","position":[-0.6435455618284295,0.6973873471855003,0.71338606911949],"aabb_xy":[[-0.6533015513376034,0.6876248131262659],[-0.6337895723192556,0.7071498812447348]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_19","position":[0.21529000935627607,0.7844188211842629,0.71338606911949],"aabb_xy":[[0.19837927691993423,0.7709466155916482],[0.2322007417926178,0.7978910267768773]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_20","position":[0.5544873461704996,0.44055900965553807,0.71338606911949],"aabb_xy":[[0.5456852908615267,0.43274768350060894],[0.5632894014794722,0.4483703358104671]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_21","position":[-0.6048552463025213,-0.8963530429534377,0.71338606911949],"aabb_xy":[[-0.6848552477326485,-0.9758701979660471],[-0.5248552448723941,-0.8168358879408282]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_22","position":[-0.29713452262836393,-0.45222494022645066,0.71338606911949],"aabb_xy":[[-0.35225972825795465,-0.5122249416677378],[-0.24200931699877312,-0.3922249387851635]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[-0.33672812225992843,-1.6333574941003102,0.71338606911949],"aabb_xy":[[-0.41672812253353547,-1.706307041926027],[-0.2567281219863215,-1.5604079462745934]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_24","position":[0.2834886652360544,0.5601597090417503,0.71338606911949],"aabb_xy":[[0.269154240109891,0.5480994934872115],[0.2978230903622179,0.5722199245962892]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_25","position":[0.33581744160454186,-2.333918458654562,0.71338606911949],"aabb_xy":[[0.2718174401965512,-2.385707410178486],[0.3998174430125325,-2.2821295071306364]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_26","position":[-0.6373806057604947,1.5775382586552227,0.71338606911949],"aabb_xy":[[-0.6748806069452873,1.573120035959162],[-0.5998806045757017,1.581956481351283]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_27","position":[0.09814697461406952,-1.107429732254977,0.71338606911949],"aabb_xy":[[0.008146978113197782,-1.1533413746734351],[0.18814697111494127,-1.0615180898365186]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_28","position":[0.6721363817390793,-1.7991998991427582,0.71338606911949],"aabb_xy":[[0.6346363812417212,-1.803168582690877],[0.7096363822364377,-1.79523121559464]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_29","position":[-0.48983854869713417,1.5994079817206974,0.71338606911949],"aabb_xy":[[-0.5243010267102219,1.5927443045377745],[-0.4553760706840464,1.60607165890362]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[-0.3533096528563097,0.9244938942689287,0.71338606911949],"aabb_xy":[[-0.4032884613666256,0.8744938942632099],[-0.30333084434599383,0.9744938942746475]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_31","position":[0.40758022214557954,-0.7401133828585829,0.71338606911949],"aabb_xy":[[0.40314959279073936,-0.7455617545932655],[0.4120108515004197,-0.7346650111239003]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972551638658662,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1184.png","name":"1184"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1184.png","name":"1184"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4895.png","name":"4895"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6236.png","name":"6236"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8405.png","name":"8405"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4883.png","name":"4883"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":533.7629330089442,"rotation_z_degrees":119.14571726101047,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002620033834151242,0.016184839833386293,0.012993764866638783]},{"name":"camera_2","offset_m":[0.00707410452938264,-0.006708453389018558,0.01836133019651184]},{"name":"camera_3","offset_m":[0.004405728207499241,0.00059971817845084,0.0016968600171059778]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00029877173647009994,-0.00044817880578874154,-0.0016299333625189334],"end_effector_yaw_offset_degrees":-0.7621461758547228},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003051366495628973,0.00015823471389154933,-0.000526646062416368],"end_effector_yaw_offset_degrees":0.6756640820675253},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00014390973645958603,-0.001997388867474014,-0.00032524174794421826],"end_effector_yaw_offset_degrees":-0.7240750956673954},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007191887365542852,-9.652406681987511e-05,0.0016631011965273891],"end_effector_yaw_offset_degrees":-0.6053697339764093},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[7.877714910588685e-05,-0.0007771907959427079,0.001768884981889856],"end_effector_yaw_offset_degrees":0.9772559418440652},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001381311163046758,0.00031405245091182393,0.0017992796585968923],"end_effector_yaw_offset_degrees":0.4378763924440554}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002346770897302363,0.001602202923184597],"position_m":[0.31765322910269767,0.3547022029231846,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0006890492174923997,-0.00435025244384666],"position_m":[0.1806890492174924,-0.03795025244384666,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0034160690216744087,-0.001632479539555485],"position_m":[0.2685839309783256,-0.3689324795395555,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0018065711249584948,-0.0018447525924443365],"position_m":[0.3366934288750415,0.10665524740755566,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"6f962c7abd478193af2d28f1d635cf74a7f66fce946f28994e0352767d8c0c01","episode_index":17,"episode_name":"episode_0017"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0017.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_1184/tex_ceiling_textures_4883/tex_floor_textures_8405/tex_table_textures_4895/tex_wall_textures_6236","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3896164717970600933,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3896164717970600933,"visual_seed":3896164717970600933,"scene_id":"lab_003","finished_at":"2026-09-06T12:41:30"} +{"episode_id":"ep_000018","started_at":"2026-09-06T12:41:36","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_0","position":[0.6699936183020845,-1.949831029862204,0.71338606911949],"aabb_xy":[[0.6437047939816438,-1.976102463516855],[0.6962824426225251,-1.9235595962075525]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.13776364125527618,-0.882513121908755,0.71338606911949],"aabb_xy":[[-0.1877465914427555,-0.9325131215513154],[-0.08778069106779683,-0.8325131222661946]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_2","position":[0.6306743256907756,1.3553063075151472,0.71338606911949],"aabb_xy":[[0.6106159140775352,1.3352412206059896],[0.6507327373040158,1.3753713944243044]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_3","position":[-0.6385202887480517,0.6374974697142748,0.71338606911949],"aabb_xy":[[-0.6885202897671869,0.6010312539764469],[-0.5885202877289164,0.6739636854521027]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_4","position":[0.6066889366806205,-0.3388799481924978,0.71338606911949],"aabb_xy":[[0.5935376907093312,-0.3638799479491844],[0.6198401826519099,-0.3138799484358113]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_5","position":[0.4558696841415195,1.0593189791388293,0.71338606911949],"aabb_xy":[[0.4450180778926439,1.0484596884111783],[0.4667212903903951,1.0701782698664803]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_6","position":[0.30670610717597335,-0.8988803655140736,0.71338606911949],"aabb_xy":[[0.27326593197995364,-0.9323239913450037],[0.34014628237199285,-0.8654367396831435]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_7","position":[-0.5756675620448082,1.7957302990142305,0.71338606911949],"aabb_xy":[[-0.5795814352402306,1.7869812836076737],[-0.5717536888493857,1.8044793144207874]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_8","position":[-0.3371302550374836,0.21274304899806662,0.71338606911949],"aabb_xy":[[-0.37931466919831436,0.14874304872085545],[-0.2949458408766529,0.2767430492752778]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.5187270276097278,1.50607698579114,0.71338606911949],"aabb_xy":[[-0.578727027861129,1.4517956607546751],[-0.4587270273583266,1.5603583108276045]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_10","position":[-0.17071334657333148,0.35475561177232207,0.71338606911949],"aabb_xy":[[-0.1753484617255648,0.35088827669517336],[-0.16607823142109804,0.35862294684947066]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_11","position":[-0.3103674085239974,0.8294152110592141,0.71338606911949],"aabb_xy":[[-0.3653596591595084,0.7744152093159016],[-0.2553751578884865,0.8844152128025271]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[-0.6154618383725163,-0.30437944968976804,0.71338606911949],"aabb_xy":[[-0.679461835658165,-0.345886168642612],[-0.5514618410868677,-0.2628727307369241]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_13","position":[0.6520253339289901,0.22370065137315542,0.71338606911949],"aabb_xy":[[0.6149912245009304,0.18932344403944595],[0.6890594433570498,0.25807785870686484]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_14","position":[0.01957115731464787,-1.9438488036511672,0.71338606911949],"aabb_xy":[[-0.016342347110341812,-1.9797623118679215],[0.05548466173963755,-1.9079352954344124]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[-0.04048905341866671,1.2883023811160244,0.71338606911949],"aabb_xy":[[-0.05798905366371609,1.2708025932764573],[-0.02298905317361732,1.305802168955591]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_16","position":[-0.06872025473007504,-1.1440048252392174,0.71338606911949],"aabb_xy":[[-0.08999826287354729,-1.2090048275652903],[-0.04744224658660279,-1.0790048229131441]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_17","position":[0.5410213085922557,-0.9981868571419965,0.71338606911949],"aabb_xy":[[0.4610213071621284,-1.0777040121546058],[0.6210213100223828,-0.9186697021293868]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_18","position":[0.3864800343870598,-2.4524072251151994,0.71338606911949],"aabb_xy":[[0.32248003411308157,-2.5024733253124873],[0.45048003466103803,-2.4023411249179114]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_19","position":[-0.4213740464202403,1.6864245902579804,0.71338606911949],"aabb_xy":[[-0.43324612943174146,1.6014245905643305],[-0.40950196340873923,1.7714245899516312]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_20","position":[0.32859701906585004,0.8079666339995213,0.71338606911949],"aabb_xy":[[0.29109701856849174,0.8039979504514029],[0.3660970195632082,0.8119353175476397]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_21","position":[0.09616868278165547,-0.8308267035745323,0.71338606911949],"aabb_xy":[[0.032168686386082404,-0.8947899919932658],[0.16016867917722855,-0.7668634151557987]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_22","position":[0.22041179359590302,-2.3203233249803317,0.71338606911949],"aabb_xy":[[0.15041179095931664,-2.3404281899761967],[0.29041179623248936,-2.3002184599844657]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_23","position":[-0.04276156817499743,1.6397462613256555,0.71338606911949],"aabb_xy":[[-0.10276156903581021,1.588319831319169],[0.017238432685815378,1.6911726913321419]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_24","position":[0.6202144801484144,-0.7828907241071044,0.71338606911949],"aabb_xy":[[0.5827144799765424,-0.8155914594900115],[0.6577144803202862,-0.7501899887241972]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_25","position":[-0.2217572946591579,0.2660561983917753,0.71338606911949],"aabb_xy":[[-0.24204159738255662,0.24577357324906648],[-0.2014729919357591,0.28633882353448414]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_26","position":[0.3943971564588562,-1.313396964194227,0.71338606911949],"aabb_xy":[[0.3568971556668608,-1.3197648051524167],[0.4318971572508517,-1.3070291232360367]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6984933916087785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2390.png","name":"2390"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1967.png","name":"1967"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5294.png","name":"5294"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3794.png","name":"3794"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":503.1850357442992,"rotation_z_degrees":238.01370107823735,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01172554515042116,-0.00024312929334972117,-0.006449872318993322]},{"name":"camera_2","offset_m":[0.0026380975090316075,0.016250242697231247,-0.013041925805655486]},{"name":"camera_3","offset_m":[-0.0021561594068310874,0.008013118308067689,0.002445776238467725]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012502111570422939,-0.001321340448971255,0.0014324601639135641],"end_effector_yaw_offset_degrees":0.9278510976096879},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0018482125274223433,0.0013568438354913909,-0.001128156655857491],"end_effector_yaw_offset_degrees":-0.2014547225104646},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0017025385200257711,0.0005750822312367738,0.0007852788941192053],"end_effector_yaw_offset_degrees":0.24700654890171725},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003713711142118081,-0.0013213666768852267,-0.0005912401367013356],"end_effector_yaw_offset_degrees":-0.34905925755449996},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0004424962154488971,0.0016231767493317482,0.0016607690072233802],"end_effector_yaw_offset_degrees":0.34463523512491734},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00044505758625495604,-0.0009354694948139227,-0.0019516084818653483],"end_effector_yaw_offset_degrees":0.6081263812468378}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004883322132570472,0.001491843811628285],"position_m":[0.3248833221325705,0.35459184381162834,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002896434191448774,-0.00498130944852375],"position_m":[0.18289643419144877,-0.03858130944852375,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007179434540203859,0.00036744884791770505],"position_m":[0.27128205654597964,-0.3669325511520823,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014853262179715162,-0.00133808715244365],"position_m":[0.33998532621797156,0.10716191284755634,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e158b61ed06870932b9dc51f0fc7077dd12f8a9d7e8ac08e2e739dcf95abed04","episode_index":18,"episode_name":"episode_0018"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0018.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2390/tex_ceiling_textures_3794/tex_floor_textures_5294/tex_table_textures_1967/tex_wall_textures_842","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6887764259912422101,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6887764259912422101,"visual_seed":6887764259912422101,"scene_id":"lab_003","finished_at":"2026-09-06T12:47:56"} +{"episode_id":"ep_000019","started_at":"2026-09-06T12:48:02","dimensions":{"distractor":{"count":25,"items":[{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_0","position":[0.6593978751612071,-0.3858851364237492,0.71338606911949],"aabb_xy":[[0.6220665986359646,-0.42053819121860153],[0.6967291516864498,-0.3512320816288969]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_1","position":[0.5441929843894395,-1.6798099520069836,0.71338606911949],"aabb_xy":[[0.46419298113159657,-1.7598064597989673],[0.6241929876472825,-1.5998134442149994]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_2","position":[-0.2255274300149258,0.27028797437404206,0.71338606911949],"aabb_xy":[[-0.2328097463915894,0.18028797076453298],[-0.2182451136382621,0.36028797798355094]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[-0.3435792818563287,1.2776450172988447,0.71338606911949],"aabb_xy":[[-0.35099173739771716,1.271793806877217],[-0.3361668263149402,1.283496227720473]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_4","position":[-0.46632535846993756,0.6072252061611572,0.71338606911949],"aabb_xy":[[-0.530325359173407,0.5612068236882363],[-0.4023253577664683,0.6532435886340783]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_5","position":[0.037484526256124195,-1.8111787388658185,0.71338606911949],"aabb_xy":[[-0.042515474816996135,-1.820956785203203],[0.11748452732924453,-1.801400692528434]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_6","position":[0.3407749676380478,-1.271020578496311,0.71338606911949],"aabb_xy":[[0.3225691439768001,-1.2820459790783028],[0.35898079129929544,-1.2599951779143195]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_7","position":[0.3836382173346302,0.7227913974878102,0.71338606911949],"aabb_xy":[[0.3614656903579793,0.7006157303316869],[0.40581074431128095,0.7449670646439333]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_8","position":[0.1707230379720427,-1.5604397528037084,0.71338606911949],"aabb_xy":[[0.14822303844833526,-1.5829357002543292],[0.19322303749575007,-1.5379438053530876]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_9","position":[-0.5798236023100686,-1.5930772032515423,0.71338606911949],"aabb_xy":[[-0.592426301447145,-1.6056725994764078],[-0.5672209031729921,-1.5804818070266768]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_10","position":[0.2661457741443741,-2.4799215158732495,0.71338606911949],"aabb_xy":[[0.24159955852162343,-2.510170412422286],[0.29069198976712485,-2.449672619324212]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_11","position":[-0.07933071226736232,0.35988331550497277,0.71338606911949],"aabb_xy":[[-0.09922175214770258,0.34722750422027593],[-0.05943967238702208,0.3725391267896696]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_12","position":[-0.24478015309515516,1.7216362291501368,0.71338606911949],"aabb_xy":[[-0.27978015307165105,1.7121716131025204],[-0.20978015311865936,1.7311008451977536]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_13","position":[-0.17207552862836284,-2.548401698954456,0.71338606911949],"aabb_xy":[[-0.2570755273204375,-2.580387562349334],[-0.08707552993628817,-2.5164158355595765]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_14","position":[0.4330019488108361,-1.8728392843068664,0.71338606911949],"aabb_xy":[[0.3778767431812453,-1.9328392857481536],[0.48812715444042687,-1.8128392828655793]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_15","position":[0.16750222382533997,1.4744886287430217,0.71338606911949],"aabb_xy":[[0.13318594665072203,1.424488628769844],[0.2018185009999579,1.5244886287161994]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_16","position":[0.3515511298020082,-2.1472812184742263,0.71338606911949],"aabb_xy":[[0.291551129205992,-2.2020936910194497],[0.4115511303980244,-2.092468745929003]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_17","position":[-0.1601729540550294,-1.301067487737006,0.71338606911949],"aabb_xy":[[-0.25017295377820353,-1.3241408402721857],[-0.0701729543318552,-1.277994135201826]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_18","position":[-0.19502253867197594,-0.3417675810805565,0.71338606911949],"aabb_xy":[[-0.25265300755924675,-0.40176758000726703],[-0.13739206978470506,-0.2817675821538459]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[0.12044531208806131,1.011945193666472,0.71338606911949],"aabb_xy":[[0.06044531158020839,0.9550984599805507],[0.18044531259591423,1.0687919273523931]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.4297552362425434,0.9061036608289217,0.71338606911949],"aabb_xy":[[-0.43767851648129175,0.8836036605909183],[-0.4218319560037951,0.928603661066925]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_21","position":[0.04924351953300754,-0.7851283630974857,0.71338606911949],"aabb_xy":[[-0.015756479024065302,-0.8148808965113683],[0.11424351809008038,-0.7553758296836031]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.3977873759776249,0.5158521189973522,0.71338606911949],"aabb_xy":[[0.380209073788678,0.49827762942324727],[0.4153656781665717,0.5334266085714571]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_23","position":[-0.6043326872258451,-1.217457720291726,0.71338606911949],"aabb_xy":[[-0.6543326885867323,-1.2674356248671415],[-0.5543326858649579,-1.1674798157163102]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_24","position":[0.6738790674647568,1.6426764028971905,0.71338606911949],"aabb_xy":[[0.6243986462507979,1.5786764049843387],[0.7233594886787155,1.7066764008100423]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6964348421367912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8040.png","name":"8040"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8040.png","name":"8040"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5531.png","name":"5531"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6345.png","name":"6345"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2992.png","name":"2992"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4335.png","name":"4335"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":666.6100961636716,"rotation_z_degrees":28.255490901038833,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011309487448763884,-0.0177008688142572,0.004742228643555408]},{"name":"camera_2","offset_m":[0.002428208559008615,-0.019127011353173882,-0.008875543426642958]},{"name":"camera_3","offset_m":[0.011299181870955164,-0.01835292348206942,-0.013256623651183134]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-6.147585339185552e-05,-0.0019574087863901113,0.0017862920853742976],"end_effector_yaw_offset_degrees":-0.46487387601252483},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0017098811890065616,0.0013761798026262922,-0.0010626466512458211],"end_effector_yaw_offset_degrees":0.5051449897043347},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001559993364088017,-0.00033947397417193243,0.0008821236688506141],"end_effector_yaw_offset_degrees":-0.9117105061629185},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007788999921491198,0.0018921861833728648,-0.0014535299577181915],"end_effector_yaw_offset_degrees":0.34611597540848416},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005555912289875761,0.0016545070172625039,0.00037693738686693555],"end_effector_yaw_offset_degrees":-0.9251925769510632},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014071228325245517,-0.0016850967817906395,0.001923401278616935],"end_effector_yaw_offset_degrees":-0.9339558711672089}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011034560851633287,0.004066789854070931],"position_m":[0.32110345608516333,0.35716678985407097,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002124488115608593,-0.0009619849516846113],"position_m":[0.18212448811560858,-0.03456198495168461,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031929504358319516,0.00027974870457956116],"position_m":[0.26880704956416807,-0.36702025129542043,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0040576504845144775,0.002172169119839514],"position_m":[0.3425576504845145,0.11067216911983951,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8f36866950e4525c5dc1a23a36872350823314458ef6a50dee2d4104362c1073","episode_index":19,"episode_name":"episode_0019"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0019.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_8040/tex_ceiling_textures_4335/tex_floor_textures_2992/tex_table_textures_5531/tex_wall_textures_6345","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6138826214692702481,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6138826214692702481,"visual_seed":6138826214692702481,"scene_id":"lab_003","finished_at":"2026-09-06T12:54:25"} +{"episode_id":"ep_000020","started_at":"2026-09-06T12:54:31","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_0","position":[-0.3025279269453124,-2.4399431815454076,0.71338606911949],"aabb_xy":[[-0.32020355753391067,-2.4576233978248103],[-0.284852296356714,-2.422262965266005]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_1","position":[0.3084777206255134,-2.4009122051962977,0.71338606911949],"aabb_xy":[[0.30384260547327996,-2.404779540273446],[0.3131128357777467,-2.3970448701191485]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[-0.41907085220100215,-1.1857387055037083,0.71338606911949],"aabb_xy":[[-0.43169763948819845,-1.1952847792052812],[-0.40644406491380575,-1.1761926318021354]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_3","position":[0.11262242852942361,1.5472339351146513,0.71338606911949],"aabb_xy":[[0.0526224276686108,1.4958075051081647],[0.1726224293902364,1.5986603651211375]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_4","position":[-0.28979477253467184,1.6727070921032356,0.71338606911949],"aabb_xy":[[-0.2985968278436445,1.6648957659483066],[-0.2809927172256991,1.6805184182581647]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[0.25119884637961754,-1.0576364555398268,0.71338606911949],"aabb_xy":[[0.19619884720302805,-1.1126261303147842],[0.306198845556207,-1.002646780764869]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_6","position":[0.010325315414780878,-2.372000114837176,0.71338606911949],"aabb_xy":[[-0.03966969554467115,-2.4220001138727683],[0.060320326374232916,-2.322000115801585]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[0.3635378815011474,-2.157639702538068,0.71338606911949],"aabb_xy":[[0.3595773977314131,-2.1653075671235884],[0.3674983652708818,-2.149971837952547]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_8","position":[-0.04223123978061183,-1.8031509356022302,0.71338606911949],"aabb_xy":[[-0.07973124027797007,-1.8071196191503482],[-0.0047312392832535854,-1.7991822520541116]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_9","position":[-0.4403135880619199,-2.3444994232482137,0.71338606911949],"aabb_xy":[[-0.48639867931665137,-2.4084994205007684],[-0.3942284968071884,-2.280499425995658]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_10","position":[0.1372853112062865,0.8898069334624044,0.71338606911949],"aabb_xy":[[0.12441340770534635,0.8098069330485682],[0.15015721470722662,0.9698069338762405]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_11","position":[-0.12244364647680461,0.00019840041214314041,0.71338606911949],"aabb_xy":[[-0.21244364619997877,-0.022874952123036692],[-0.03244364675363042,0.023271752947322973]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.5510445034668017,1.1987539845894544,0.71338606911949],"aabb_xy":[[0.5285445034566534,1.184657764949851],[0.57354450347695,1.2128502042290576]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_13","position":[0.3864141941025381,-1.4858417370885493,0.71338606911949],"aabb_xy":[[0.363917772668674,-1.508341736895297],[0.4089106155364022,-1.463341737281802]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.25919267983115024,-0.99472054622964,0.71338606911949],"aabb_xy":[[-0.2929682390218432,-1.0087590414428051],[-0.22541712064045727,-0.9806820510164749]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_15","position":[0.19747733512826848,1.2636864605481408,0.71338606911949],"aabb_xy":[[0.15247733366203964,1.2186866036866602],[0.24247733659449736,1.3086863174096215]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.21153829343737063,1.0132202735620317,0.71338606911949],"aabb_xy":[[0.201906657216941,1.0035829607823228],[0.22116992965780025,1.0228575863417406]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_17","position":[0.42148666335477536,1.4682847241012804,0.71338606911949],"aabb_xy":[[0.408040136720732,1.454814872448189],[0.4349331899888187,1.4817545757543717]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[0.5035104702675173,-0.9618306848639366,0.71338606911949],"aabb_xy":[[0.4335104738575553,-0.9822686205156183],[0.5735104666774788,-0.9413927492122548]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_19","position":[-0.09954680367420454,-0.7383727812208338,0.71338606911949],"aabb_xy":[[-0.11277774920888582,-0.7516002002428331],[-0.08631585813952324,-0.7251453621988343]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_20","position":[0.11505566424078983,0.6814725764878147,0.71338606911949],"aabb_xy":[[0.10801535430725286,0.6014725770881434],[0.12209597417432684,0.7614725758874863]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6992470652789723,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5637.png","name":"5637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7083.png","name":"7083"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8720.png","name":"8720"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2004.png","name":"2004"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7888.png","name":"7888"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":535.3553424133823,"rotation_z_degrees":321.1619398536527,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00558423411439327,-0.006149942887144672,0.01623227728541923]},{"name":"camera_2","offset_m":[-0.0016932863945852451,0.003449948261694792,-0.006783999110555388]},{"name":"camera_3","offset_m":[-0.015258258371831302,-0.0054866294536329505,-0.011414166262047455]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014194092498674379,-0.001671254618439478,-0.0005778105944213099],"end_effector_yaw_offset_degrees":0.07177367693407444},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0013242719413968061,-2.0240738569577386e-05,-0.0012890709857364363],"end_effector_yaw_offset_degrees":-0.38276908368254303},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001126963509243292,0.0002120683678480213,0.0015520691836442054],"end_effector_yaw_offset_degrees":-0.8468558093586114},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0002852267084069084,-0.00013725340847450741,-0.0003194733838569107],"end_effector_yaw_offset_degrees":0.23016980911130225},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00010430895363694286,0.0014040619723234256,-0.0016447257820006007],"end_effector_yaw_offset_degrees":0.2413391148221018},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0017455119412382834,-0.00020741661014225614,0.0007300611872349352],"end_effector_yaw_offset_degrees":-0.80589580443474}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0033483404744928348,-0.0014524694227673728],"position_m":[0.31665165952550717,0.35164753057723264,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[9.295405584975637e-05,-0.002444549468068943],"position_m":[0.18009295405584974,-0.03604454946806894,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.000823345903952338,0.00143327778276913],"position_m":[0.27282334590395235,-0.3658667222172309,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0008653298202359076,0.004261144552373842],"position_m":[0.3376346701797641,0.11276114455237383,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7abd8ca9d69518809024e5cf4ba76bb246193b2698eb914e577d34f7965d9698","episode_index":20,"episode_name":"episode_0020"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0020.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5637/tex_ceiling_textures_7888/tex_floor_textures_2004/tex_table_textures_7083/tex_wall_textures_8720","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8204034086585649613,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8204034086585649613,"visual_seed":8204034086585649613,"scene_id":"lab_003","finished_at":"2026-09-06T13:01:01"} +{"episode_id":"ep_000021","started_at":"2026-09-06T13:01:09","dimensions":{"distractor":{"count":25,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.2771626462219653,-2.099938771875644,0.71338606911949],"aabb_xy":[[-0.3146626461657317,-2.1082318619104807],[-0.2396626462781989,-2.0916456818408076]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.6056067358816649,-2.429765716677301,0.71338606911949],"aabb_xy":[[-0.6355742927914905,-2.4597657169751863],[-0.5756391789718391,-2.3997657163794144]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[0.1792309303278401,0.7170849279408644,0.71338606911949],"aabb_xy":[[0.1142309293707129,0.6651367160071588],[0.2442309312849673,0.76903313987457]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.21803847021095513,-2.267135376437463,0.71338606911949],"aabb_xy":[[-0.24095418309600505,-2.290039673573887],[-0.19512275732590526,-2.24423107930104]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_4","position":[-0.3318619804337377,-1.5922660670972781,0.71338606911949],"aabb_xy":[[-0.3683578010610164,-1.6287500095240357],[-0.2953661598064589,-1.5557821246705206]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_5","position":[-0.3293439046097678,-1.9381656528703441,0.71338606911949],"aabb_xy":[[-0.3893439051176207,-1.9950123865562652],[-0.26934390410191483,-1.8813189191844226]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_6","position":[-0.5109280007259265,0.236653498560071,0.71338606911949],"aabb_xy":[[-0.5609280016764592,0.2051043515565496],[-0.46092799977539356,0.2682026455635924]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[0.5242065159616063,-1.8529160073859678,0.71338606911949],"aabb_xy":[[0.516962749915361,-1.9329160055895704],[0.5314502820078516,-1.7729160091823657]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_8","position":[0.5216288446825186,-2.476672765908575,0.71338606911949],"aabb_xy":[[0.49916407471111335,-2.4991727667874355],[0.5440936146539236,-2.4541727650297145]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.051349389589605665,-1.7704383920325,0.71338606911949],"aabb_xy":[[-0.06064300782675624,-1.8079383905206339],[-0.04205577135245508,-1.732938393544366]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_10","position":[-0.48479252242629567,-1.1021341642246805,0.71338606911949],"aabb_xy":[[-0.49656070922095324,-1.187134164129902],[-0.4730243356316382,-1.017134164319459]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[0.5609145224683139,-1.242267499232918,0.71338606911949],"aabb_xy":[[0.4909145190767518,-1.2775832729363485],[0.6309145258598757,-1.2069517255294868]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_12","position":[0.13234522091841738,1.5053031080640822,0.71338606911949],"aabb_xy":[[0.06834521769977953,1.458579996165074],[0.19634522413705524,1.5520262199630908]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_13","position":[-0.06204683607225647,-2.214784760235647,0.71338606911949],"aabb_xy":[[-0.08025265973350415,-2.2258101608176393],[-0.0438410124110088,-2.203759359653656]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[0.3443323243689824,-1.0350115331488048,0.71338606911949],"aabb_xy":[[0.3093323251761641,-1.0459785791464673],[0.37933232356180063,-1.0240444871511418]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_15","position":[0.6311742775930846,0.09173965926877559,0.71338606911949],"aabb_xy":[[0.6048854532726439,0.06546822561412435],[0.6574631019135252,0.11801109292342682]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_16","position":[0.5303282756370373,1.3209419725372271,0.71338606911949],"aabb_xy":[[0.4603282738282919,1.2995882037730397],[0.6003282774457828,1.3422957413014145]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[0.5411923078501404,-1.4962520726530895,0.71338606911949],"aabb_xy":[[0.5339310602797329,-1.509039082916599],[0.5484535554205479,-1.48346506238958]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_18","position":[-0.5804121905232459,0.6981331124161185,0.71338606911949],"aabb_xy":[[-0.6029121903371483,0.6936584960456377],[-0.5579121907093435,0.7026077287865992]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_19","position":[0.5461510087693753,-2.2596818195760235,0.71338606911949],"aabb_xy":[[0.5216047931466244,-2.2899307161250606],[0.5706972243921259,-2.2294329230269865]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_20","position":[0.44333604232927115,0.8352791180702388,0.71338606911949],"aabb_xy":[[0.4257032067357436,0.8176561720546157],[0.4609688779227987,0.8529020640858617]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[-0.4342938348116041,0.7528745117935736,0.71338606911949],"aabb_xy":[[-0.4498496042218695,0.7373240785491665],[-0.41873806540133895,0.768424945037981]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_22","position":[-0.14719983407649606,1.528201645252183,0.71338606911949],"aabb_xy":[[-0.16608421784500627,1.5093157204718302],[-0.12831545030798586,1.5470875700325357]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_23","position":[-0.08488638661801162,1.7910138526431898,0.71338606911949],"aabb_xy":[[-0.10077087988333679,1.7766609123443657],[-0.06900189335268649,1.8053667929420139]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_24","position":[-0.30463638142013205,-1.0041300746561403,0.71338606911949],"aabb_xy":[[-0.3546151899304479,-1.054130074661859],[-0.2546575729098161,-0.9541300746504213]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979070670291346,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5406.png","name":"5406"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5406.png","name":"5406"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4070.png","name":"4070"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/944.png","name":"944"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2926.png","name":"2926"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4166.png","name":"4166"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":644.2094503338973,"rotation_z_degrees":251.74353223499165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01963966023505822,0.010110168647866461,-0.01920063205489965]},{"name":"camera_2","offset_m":[-0.01892352758309181,0.014333001051543202,0.005640888063892371]},{"name":"camera_3","offset_m":[-0.012347265138592878,0.0008994615129013853,0.00967467760306532]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001458492166067471,-0.0011542998544986146,-0.0014951804703548777],"end_effector_yaw_offset_degrees":0.47516237830975516},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018556799038761476,-0.0018705173518783324,0.0012672762543455337],"end_effector_yaw_offset_degrees":-0.5196685538399144},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001692130012047413,0.0003294809555764106,-0.00021720438213719355],"end_effector_yaw_offset_degrees":0.1103372822374471},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006342795084504425,-0.0011643379520664219,-0.0015819359992287458],"end_effector_yaw_offset_degrees":-0.4301202139717013},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00012455160937259718,0.0017525926708844082,0.0014307058614183078],"end_effector_yaw_offset_degrees":0.2305364487910535},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018866722084797099,-5.168904902629122e-05,0.0009318331147072684],"end_effector_yaw_offset_degrees":-0.501929243321694}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0017739181587742422,-0.003179638699377688],"position_m":[0.32177391815877426,0.3499203613006223,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.002459534230895233,0.002853392533282686],"position_m":[0.18245953423089523,-0.030746607466717313,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004045695139131847,-0.0038674666985676954],"position_m":[0.2679543048608682,-0.3711674666985677,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00488178635107859,0.004538218348049189],"position_m":[0.34338178635107863,0.11303821834804918,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"4ff1c56a2fc8bac0b0ac9b2d87afd0119afd238c1452babcfa95d0f6f7c34594","episode_index":21,"episode_name":"episode_0021"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0021.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5406/tex_ceiling_textures_4166/tex_floor_textures_2926/tex_table_textures_4070/tex_wall_textures_944","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5989223839324758568,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5989223839324758568,"visual_seed":5989223839324758568,"scene_id":"lab_003","finished_at":"2026-09-06T13:07:36"} +{"episode_id":"ep_000022","started_at":"2026-09-06T13:07:43","dimensions":{"distractor":{"count":30,"items":[{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_0","position":[-0.23396799641151278,0.7815872934924029,0.71338606911949],"aabb_xy":[[-0.24985248967683793,0.7672343531935789],[-0.21808350314618763,0.795940233791227]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_1","position":[-0.47586159495972274,-0.024918014119044152,0.71338606911949],"aabb_xy":[[-0.4872233296130088,-0.03628648052533223],[-0.4644998603064365,-0.013549547712756068]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_2","position":[0.26913010908792956,-0.7937241725230952,0.71338606911949],"aabb_xy":[[0.23163010757229785,-0.8049509455392403],[0.30663011060356127,-0.7824973995069502]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_3","position":[0.17036471745955373,-1.9051409430275192,0.71338606911949],"aabb_xy":[[0.1528180225434348,-1.9426409445917707],[0.18791141237567266,-1.8676409414632682]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_4","position":[0.3043348817038878,0.4741103159704849,0.71338606911949],"aabb_xy":[[0.2969224261624993,0.46825910554885697],[0.31174733724527626,0.47996152639211287]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[-0.44639553651396735,0.5544888174238709,0.71338606911949],"aabb_xy":[[-0.4693112493990173,0.5315845202874474],[-0.4234798236289175,0.5773931145602944]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_6","position":[0.5071567033840494,-1.053851130371935,0.71338606911949],"aabb_xy":[[0.47285979236630865,-1.088148016581876],[0.5414536144017899,-1.0195542441619934]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.6791808896907445,-1.877913817425128,0.71338606911949],"aabb_xy":[[0.6457407144947248,-1.9113574432560578],[0.712621064886764,-1.8444701915941977]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_8","position":[-0.651480770239645,-1.844470652860186,0.71338606911949],"aabb_xy":[[-0.6570624418737738,-1.8569706526779615],[-0.6458990986055162,-1.8319706530424105]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_9","position":[-0.0403291943663473,-0.7815986949518434,0.71338606911949],"aabb_xy":[[-0.07717974230333491,-0.8190986957748773],[-0.0034786464293596955,-0.7440986941288098]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_10","position":[-0.1454168792331061,1.1792047019940388,0.71338606911949],"aabb_xy":[[-0.20041687840969555,1.1242150272190812],[-0.09041688005651657,1.2341943767689965]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_11","position":[-0.2565456032228849,-1.7524568991020453,0.71338606911949],"aabb_xy":[[-0.2683137900175424,-1.837456899007267],[-0.24477741642822737,-1.667456899196824]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_12","position":[-0.16018619758562558,-2.3904555909892147,0.71338606911949],"aabb_xy":[[-0.18402241522623067,-2.480455591797701],[-0.13634997994502054,-2.300455590180728]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_13","position":[-0.4189823661597883,-0.2531041291143805,0.71338606911949],"aabb_xy":[[-0.4489740288936586,-0.28310412845118105],[-0.38899070342591796,-0.22310412977757998]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_14","position":[0.0004172341852337613,0.8827304053904674,0.71338606911949],"aabb_xy":[[-0.08958276231563798,0.8368187629720092],[0.09041723068610551,0.9286420478089257]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_15","position":[0.027663145092818198,1.1614611834061317,0.71338606911949],"aabb_xy":[[-0.04233685703861135,1.1386992177804358],[0.09766314722424774,1.1842231490318271]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_16","position":[-0.31030323137676624,-0.17739570805460492,0.71338606911949],"aabb_xy":[[-0.3446195085513842,-0.22739570802778267],[-0.2759869542021483,-0.12739570808142722]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_17","position":[0.16659348310053868,-0.7377556632504054,0.71338606911949],"aabb_xy":[[0.14159348316802078,-0.7446383314713289],[0.19159348303305657,-0.7308729950294822]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_18","position":[-0.3134775884657858,0.15793735020587718,0.71338606911949],"aabb_xy":[[-0.3509775870414065,0.1452010545423192],[-0.2759775898901649,0.1706736458694351]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[0.35418648630748484,-1.6927609078179597,0.71338606911949],"aabb_xy":[[0.3363929793725684,-1.7105606534137574],[0.3719799932424013,-1.674961162222162]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.3589270345974541,-0.4847684877519183,0.71338606911949],"aabb_xy":[[-0.3666302252715311,-0.4924778584506562],[-0.351223843923377,-0.4770591170531802]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_21","position":[-0.5672980554186607,-0.6460574077095251,0.71338606911949],"aabb_xy":[[-0.6007772226797017,-0.6795365210806321],[-0.5338188881576198,-0.6125782943384182]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_22","position":[0.5712604335327292,0.20953660520237882,0.71338606911949],"aabb_xy":[[0.5212604325821962,0.17798745819885736],[0.6212604344832618,0.24108575220590017]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_23","position":[-0.07080760300547939,1.0436539671002274,0.71338606911949],"aabb_xy":[[-0.07722141664866433,1.0372441468525588],[-0.06439378936229445,1.0500637873478955]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_24","position":[0.6743661889649288,-0.551803667817929,0.71338606911949],"aabb_xy":[[0.6612149429936395,-0.5768036675746155],[0.6875174349362182,-0.5268036680612425]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_25","position":[-0.5802691646949403,0.8522901443343485,0.71338606911949],"aabb_xy":[[-0.644269161807046,0.8032577745399377],[-0.5162691675828346,0.901322514128759]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_26","position":[0.14080420431110818,1.5568616653975682,0.71338606911949],"aabb_xy":[[0.09299803669733954,1.4918616626905092],[0.1886103719248768,1.621861668104627]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_27","position":[0.22023485466241355,0.946016997093484,0.71338606911949],"aabb_xy":[[0.14023485769937435,0.8689413554497104],[0.3002348516254527,1.0230926387372574]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_28","position":[-0.4707953221868252,1.6945954967564192,0.71338606911949],"aabb_xy":[[-0.48829532132119235,1.6847158697188314],[-0.453295323052458,1.704475123794007]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_29","position":[0.4656528769246442,1.6222476822050784,0.71338606911949],"aabb_xy":[[0.4406528777590111,1.615295436499722],[0.4906528760902773,1.6291999279104352]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7008567571255306,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8011.png","name":"8011"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8011.png","name":"8011"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4494.png","name":"4494"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6059.png","name":"6059"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6966.png","name":"6966"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9786.png","name":"9786"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":695.0647816552574,"rotation_z_degrees":359.43591109417025,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017247173989958963,0.008776774233631147,-0.009721538455960391]},{"name":"camera_2","offset_m":[0.0046560002897663745,0.0005434770898162522,-0.007242605969827546]},{"name":"camera_3","offset_m":[0.011513710627920785,-0.013416492266526196,6.005717137803901e-05]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001757461452664717,0.0019450881794403066,0.0017480588264897979],"end_effector_yaw_offset_degrees":0.6033354191128262},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00033037050238543617,0.0017879865624316408,0.0017193069993148543],"end_effector_yaw_offset_degrees":0.11349500841630467},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016570135310855615,-0.00043429609744048887,-8.575912999772323e-05],"end_effector_yaw_offset_degrees":-0.6977208905357155},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001543429723470648,-0.001084741249717104,-0.0007202402644072175],"end_effector_yaw_offset_degrees":-0.872792027031007},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[6.565898460927444e-05,-0.0005357080475178297,9.715859963061032e-05],"end_effector_yaw_offset_degrees":0.1311718676399769},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003115551144161795,0.0009886421766952596,-0.0008293908787006497],"end_effector_yaw_offset_degrees":-0.045403906245502945}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0043321804698334,-0.003503070378281188],"position_m":[0.3243321804698334,0.34959692962171884,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004275194034826468,0.00313785739176991],"position_m":[0.17572480596517354,-0.03046214260823009,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.000701419437464281,-0.0040851924042373585],"position_m":[0.27129858056253575,-0.3713851924042374,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004671024560644014,0.0028223173427333074],"position_m":[0.343171024560644,0.1113223173427333,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cbc22b71fca15c9c5e657dd9c6c3eed039e453279e5f1f0db28c86839bef7294","episode_index":22,"episode_name":"episode_0022"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0022.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8011/tex_ceiling_textures_9786/tex_floor_textures_6966/tex_table_textures_4494/tex_wall_textures_6059","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8866844902940016077,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8866844902940016077,"visual_seed":8866844902940016077,"scene_id":"lab_003","finished_at":"2026-09-06T13:14:04"} +{"episode_id":"ep_000023","started_at":"2026-09-06T13:14:11","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_0","position":[-0.31244121838733413,-1.2486661446368625,0.71338606911949],"aabb_xy":[[-0.34744121836383,-1.2581307606844794],[-0.27744121841083835,-1.2392015285892461]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_1","position":[0.17105188766516854,1.0465363833254142,0.71338606911949],"aabb_xy":[[0.09105188623504132,0.9670192283128047],[0.25105188909529574,1.1260535383380237]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_2","position":[-0.4604667569568959,-2.449362778347302,0.71338606911949],"aabb_xy":[[-0.4685944451502091,-2.4582763867580097],[-0.45233906876358265,-2.440449169936594]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_3","position":[-0.05729386162409944,-0.9419936320018556,0.71338606911949],"aabb_xy":[[-0.13729386028098545,-0.9564984909261184],[0.02270613703278656,-0.9274887730775928]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_4","position":[0.5178651217063206,1.0846705630893543,0.71338606911949],"aabb_xy":[[0.48789756479649493,1.0546705627914688],[0.5478326786161463,1.1146705633872402]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_5","position":[-0.3119607862635932,0.44141827709219505,0.71338606911949],"aabb_xy":[[-0.3179977992642579,0.4353915760232469],[-0.30592377326292847,0.4474449781611433]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_6","position":[0.6627037277637466,1.2780463865579623,0.71338606911949],"aabb_xy":[[0.64527301268474,1.2607742718941113],[0.680134442842753,1.295318501221813]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[-0.5205159452329458,-2.1498270356041087,0.71338606911949],"aabb_xy":[[-0.5336671912042351,-2.1748270353607957],[-0.5073646992616564,-2.1248270358474226]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[0.5427315900896015,0.2136010445781804,0.71338606911949],"aabb_xy":[[0.4777315891324742,0.16165283264447483],[0.6077315910467286,0.265549256511886]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.0963558935473321,-1.8028679757966684,0.71338606911949],"aabb_xy":[[-0.10564951178448267,-1.840367974284802],[-0.08706227531018151,-1.7653679773085342]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_10","position":[-0.07860795857556258,0.9957331692455935,0.71338606911949],"aabb_xy":[[-0.08663422920618859,0.986981674268241],[-0.07058168794493659,1.0044846642229461]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_11","position":[0.6017856772708652,0.6719050257617272,0.71338606911949],"aabb_xy":[[0.5519688978060304,0.6219050272774238],[0.6516024567356999,0.7219050242460305]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_12","position":[0.6758704999167409,0.406947130141186,0.71338606911949],"aabb_xy":[[0.6587684219583728,0.38984032460991624],[0.6929725778751091,0.42405393567245575]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_13","position":[0.4377747410212509,1.3476023522447091,0.71338606911949],"aabb_xy":[[0.4053130401393234,1.3174695201298063],[0.4702364419031783,1.3777351843596115]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_14","position":[0.0580501034811306,1.2587000049979524,0.71338606911949],"aabb_xy":[[0.042494334070865336,1.2431495717535452],[0.07360587289139586,1.2742504382423596]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[0.6741579221744827,-2.0578490050234755,0.71338606911949],"aabb_xy":[[0.6678458226381444,-2.0636159442766946],[0.6804700217108212,-2.052082065770257]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_16","position":[0.35498703580246294,-1.1223534465603562,0.71338606911949],"aabb_xy":[[0.3453553995820333,-1.131990759340065],[0.36461867202289255,-1.1127161337806473]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_17","position":[0.5539197912722515,-2.36087855915559,0.71338606911949],"aabb_xy":[[0.5413170921351751,-2.373473955380456],[0.566522490409328,-2.348283162930725]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_18","position":[-0.013799209233747,-2.4516161342829235,0.71338606911949],"aabb_xy":[[-0.048799207503866904,-2.4586902619779116],[0.021200789036372902,-2.4445420065879353]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.07450912351210104,-0.7986434908076603,0.71338606911949],"aabb_xy":[[-0.005490873502146956,-0.8187780424810716],[0.15450912052634902,-0.778508939134249]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_20","position":[-0.591029153332529,1.522429089233364,0.71338606911949],"aabb_xy":[[-0.6023908879858152,1.5110606228270758],[-0.5796674186792429,1.533797555639652]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[-0.6052812824737903,-0.20555021845797405,0.71338606911949],"aabb_xy":[[-0.6852812857378034,-0.2191102507668874],[-0.5252812792097772,-0.19199018614906072]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_22","position":[0.6780713381244323,-1.6979403169336815,0.71338606911949],"aabb_xy":[[0.6551556252393824,-1.720844614070105],[0.7009870510094822,-1.675036019797258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6951467685229185,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7973.png","name":"7973"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7973.png","name":"7973"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/522.png","name":"522"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3205.png","name":"3205"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6554.png","name":"6554"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7143.png","name":"7143"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":803.0023761638208,"rotation_z_degrees":134.43281421477812,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010397587860280107,-0.013088773739818333,0.009780133657585913]},{"name":"camera_2","offset_m":[-0.01118707643492638,0.013021207451139657,-0.012734043923828268]},{"name":"camera_3","offset_m":[0.007561220522117062,0.01596360225421097,0.016216664904333985]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00012891787155454803,0.0007159012193255318,-0.0013580270705783328],"end_effector_yaw_offset_degrees":0.3718256985647017},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0003561781447425404,-0.00035518824812364076,0.0005867924847507097],"end_effector_yaw_offset_degrees":-0.4269582131362766},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018956643083175447,-0.0014189627119197156,-0.0018404496982385031],"end_effector_yaw_offset_degrees":0.6933317180664649},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010153662546719786,-0.0014025572795721146,0.0007937678179405962],"end_effector_yaw_offset_degrees":0.578475048725438},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006434894911432618,0.001065765543368818,-0.0012779334969554427],"end_effector_yaw_offset_degrees":0.8585881538400597},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018470426475600652,0.00020447565783533782,0.0014222782909898949],"end_effector_yaw_offset_degrees":0.12111402247197978}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002960056363940106,0.0038332776657491437],"position_m":[0.3170399436360599,0.35693327766574917,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00010751164413266064,0.0031220458865459525],"position_m":[0.18010751164413266,-0.030477954113454046,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0028932594918920475,0.0032167618133804214],"position_m":[0.26910674050810796,-0.3640832381866196,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037015346812200407,0.0001120461771041744],"position_m":[0.34220153468122005,0.10861204617710417,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e49f77bda790afa331d75e85e112cf0b1847d1db5b48920029bf180175c195e7","episode_index":23,"episode_name":"episode_0023"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0023.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7973/tex_ceiling_textures_7143/tex_floor_textures_6554/tex_table_textures_522/tex_wall_textures_3205","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2671305166104674939,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2671305166104674939,"visual_seed":2671305166104674939,"scene_id":"lab_003","finished_at":"2026-09-06T13:20:35"} +{"episode_id":"ep_000024","started_at":"2026-09-06T13:20:42","dimensions":{"distractor":{"count":26,"items":[{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_0","position":[-0.3945337877993864,-2.1576996278535496,0.71338606911949],"aabb_xy":[[-0.48453378721775725,-2.191075124697739],[-0.30453378838101547,-2.1243241310093595]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_1","position":[-0.27326077177984,-0.8533912653281208,0.71338606911949],"aabb_xy":[[-0.30703633097053296,-0.8674297605412857],[-0.239485212589147,-0.8393527701149557]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[0.07421120508153856,0.9993343381071851,0.71338606911949],"aabb_xy":[[0.0437269549545084,0.949334338325689],[0.10469545520856871,1.049334337888681]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_3","position":[0.5383425444921417,-0.37695216225954775,0.71338606911949],"aabb_xy":[[0.4743425480965686,-0.4409154506782813],[0.6023425408877148,-0.3129888738408142]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.5465125637237274,1.6024730511397052,0.71338606911949],"aabb_xy":[[-0.6265125611273207,1.5224804799415221],[-0.4665125663201339,1.6824656223378878]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_5","position":[0.012262522149081523,-2.50052047035605,0.71338606911949],"aabb_xy":[[0.002630885928651903,-2.510157783135759],[0.02189415836951114,-2.490883157576341]]},{"name":"lh_dropper_bottle_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m02_6","position":[0.5263380613451738,-1.4992641825925628,0.71338606911949],"aabb_xy":[[0.5087052257516462,-1.5168871286081855],[0.5439708969387014,-1.4816412365769396]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.551322580702684,0.5362770477509895,0.71338606911949],"aabb_xy":[[-0.5888225818874767,0.5318588250549289],[-0.5138225795178911,0.5406952704470499]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_8","position":[-0.07812659325940019,0.43792126286326427,0.71338606911949],"aabb_xy":[[-0.11244287043401813,0.3879212628900866],[-0.04381031608478225,0.48792126283644205]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_9","position":[-0.5602753468238089,-1.5582969373667555,0.71338606911949],"aabb_xy":[[-0.5746097719499723,-1.5703571529212945],[-0.5459409216976454,-1.5462367218122168]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_10","position":[-0.6528640402385719,-1.2840835201494476,0.71338606911949],"aabb_xy":[[-0.6601463566152354,-1.3740835237589561],[-0.645581723861908,-1.1940835165399382]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_11","position":[-0.539339609327292,-0.12899253382510212,0.71338606911949],"aabb_xy":[[-0.6193334329058502,-0.2089925364179437],[-0.45934578574873375,-0.04899253123226055]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_12","position":[0.5032430916634008,-1.9531855728890015,0.71338606911949],"aabb_xy":[[0.48074309165325246,-1.9672817925286046],[0.525743091673549,-1.939089353249398]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_13","position":[0.29741104251717154,0.9737028165513819,0.71338606911949],"aabb_xy":[[0.24741176734873543,0.9237028152754346],[0.34741031768560776,1.023702817827329]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_14","position":[0.5428017573732813,-1.1090775077584225,0.71338606911949],"aabb_xy":[[0.5327200502947077,-1.189077505650537],[0.5528834644518547,-1.0290775098663076]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_15","position":[-0.5940205531001646,-1.7020296748105057,0.71338606911949],"aabb_xy":[[-0.66402055490891,-1.7233834435746929],[-0.5240205512914191,-1.6806759060463181]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[-0.6720215289778334,1.0556113593039256,0.71338606911949],"aabb_xy":[[-0.6871936982594667,1.0404425023757222],[-0.6568493596962001,1.070780216232129]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_17","position":[0.5530541146352768,0.8744869318798991,0.71338606911949],"aabb_xy":[[0.5398231691005954,0.8612595128578996],[0.5662850601699579,0.8877143509018984]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.1794571529339397,1.0635390392677815,0.71338606911949],"aabb_xy":[[-0.18549416593460444,1.0575123381988336],[-0.17342013993327499,1.0695657403367298]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_19","position":[0.06737801176192493,1.1986153524852883,0.71338606911949],"aabb_xy":[[0.053931485127881595,1.185145500832197],[0.08082453839596826,1.2120852041383796]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[0.08735832120456444,-1.8193038026626285,0.71338606911949],"aabb_xy":[[0.07857709405732823,-1.828083549951159],[0.09613954835180069,-1.8105240553740984]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_21","position":[-0.29310616515030025,0.7298742288218896,0.71338606911949],"aabb_xy":[[-0.3048743519449578,0.6448742289166681],[-0.2813379783556428,0.8148742287271113]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.3140477732694381,-1.273602979824845,0.71338606911949],"aabb_xy":[[-0.3210892242201857,-1.2806297315626396],[-0.3070063223186905,-1.2665762280870503]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[0.6657624355373095,-1.6280533275552473,0.71338606911949],"aabb_xy":[[0.6322832682762687,-1.6615324409263545],[0.6992416027983506,-1.5945742141841406]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_24","position":[0.4058820186744798,-1.7952538260546764,0.71338606911949],"aabb_xy":[[0.3708820204043599,-1.8023279537496644],[0.4408820169445997,-1.788179698359688]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_25","position":[-0.05623317251181803,0.142946642218853,0.71338606911949],"aabb_xy":[[-0.0636456280532065,0.13709543179722505],[-0.048820716970429556,0.14879785264048095]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000391076218209,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/951.png","name":"951"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4085.png","name":"4085"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/614.png","name":"614"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2590.png","name":"2590"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1972.png","name":"1972"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":500.54411452847893,"rotation_z_degrees":19.078957844394445,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01679939957838446,0.007368289041843196,-0.010452375052956589]},{"name":"camera_2","offset_m":[0.014679908275728366,0.0021566396274664175,0.01804517220310205]},{"name":"camera_3","offset_m":[-0.009361683364136604,-0.016403129028263966,0.017790421677774792]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0011488334133334531,0.0007285208446705434,0.0007926360425019041],"end_effector_yaw_offset_degrees":0.4766078477103881},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0003010033625725473,0.0008647973871599096,0.00010819723629624948],"end_effector_yaw_offset_degrees":-0.5336492006448388},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016573163115214556,-0.000840592587950673,0.00038690539119036905],"end_effector_yaw_offset_degrees":-0.5018838275709354},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00016018430123354533,0.0007001267530004039,0.001580853914740729],"end_effector_yaw_offset_degrees":-0.34895054944949355},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00040105792608529506,-0.0013854267366245404,-0.0014362952212147282],"end_effector_yaw_offset_degrees":0.7026561347326277},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016025097955071452,0.0017866720747027839,-0.0019379430545433758],"end_effector_yaw_offset_degrees":-0.5128818495870504}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0018468384134854776,0.0001040397589267654],"position_m":[0.3218468384134855,0.3532040397589268,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003917285800100413,0.0020968649698607797],"position_m":[0.18391728580010042,-0.03150313503013922,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009260035728227353,8.837728060473102e-05],"position_m":[0.27292600357282276,-0.3672116227193953,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0016803830284590204,-0.0021425867866080362],"position_m":[0.34018038302845904,0.10635741321339197,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fe95606ad8dff18cf030fb0107e2f76e75b0ca5bf095daa089005bfe6f9f656d","episode_index":24,"episode_name":"episode_0024"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0024.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_951/tex_ceiling_textures_1972/tex_floor_textures_2590/tex_table_textures_4085/tex_wall_textures_614","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7281108198320304623,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7281108198320304623,"visual_seed":7281108198320304623,"scene_id":"lab_003","finished_at":"2026-09-06T13:27:34"} +{"episode_id":"ep_000025","started_at":"2026-09-06T13:27:43","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_0","position":[-0.6721331022364994,-2.5604697502624285,0.71338606911949],"aabb_xy":[[-0.6795455577778878,-2.5663209606840565],[-0.6647206466951109,-2.5546185398408006]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_1","position":[-0.3867696574494108,-0.0993429893531581,0.71338606911949],"aabb_xy":[[-0.45076965384498385,-0.16330627777189166],[-0.3227696610538377,-0.03537970093442455]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_2","position":[-0.45207414388863804,-1.5806829161571883,0.71338606911949],"aabb_xy":[[-0.48957414406051,-1.6133836515400954],[-0.4145741437167661,-1.547982180774281]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_3","position":[0.0815287988550073,1.4561454022280178,0.71338606911949],"aabb_xy":[[0.07502716234700268,1.446377580201708],[0.08803043536301192,1.4659132242543276]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_4","position":[0.5133005035531304,-1.5136884242487254,0.71338606911949],"aabb_xy":[[0.48281625342610024,-1.5636884240302213],[0.5437847536801605,-1.4636884244672295]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[-0.6641978807130938,-1.7720501190898048,0.71338606911949],"aabb_xy":[[-0.6691539008979751,-1.7945501192919266],[-0.6592418605282128,-1.7495501188876834]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_6","position":[0.23379228486325665,-2.4415755924919185,0.71338606911949],"aabb_xy":[[0.2026453660196735,-2.5115755911787256],[0.26493920370683977,-2.3715755938051113]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_7","position":[-0.6233611150345266,1.497538548202486,0.71338606911949],"aabb_xy":[[-0.6733559479624682,1.4475385493072428],[-0.573366282106585,1.5475385470977299]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_8","position":[-0.6401003058647033,1.1905611027034122,0.71338606911949],"aabb_xy":[[-0.6901003068838387,1.1540948869655845],[-0.5901003048455682,1.2270273184412404]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_9","position":[0.1435671682409989,0.8868433797680142,0.71338606911949],"aabb_xy":[[0.11008800097995797,0.8533642663969073],[0.17704633550203985,0.9203224931391213]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[-0.47547858083007694,0.9374193443789989,0.71338606911949],"aabb_xy":[[-0.5394785810905478,0.8924105450260708],[-0.4114785805696061,0.9824281437319268]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_11","position":[-0.3748780032528511,1.6057091226665663,0.71338606911949],"aabb_xy":[[-0.3927471110073066,1.5918762146893553],[-0.3570088954983956,1.6195420306437773]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_12","position":[0.3668221455250964,-2.0912752885173296,0.71338606911949],"aabb_xy":[[0.329322147101696,-2.10443950248516],[0.4043221439484967,-2.0781110745494984]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.04075186506651329,-2.090455285468942,0.71338606911949],"aabb_xy":[[0.00575186679639339,-2.09752941316393],[0.0757518633366332,-2.0833811577739536]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_14","position":[0.45279618112811226,1.7816517006006145,0.71338606911949],"aabb_xy":[[0.435120550539514,1.7639714843212118],[0.47047181171671065,1.7993319168800173]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[-0.2241654495273599,-1.5078201349749671,0.71338606911949],"aabb_xy":[[-0.252010486307967,-1.538604633713279],[-0.19632041274675277,-1.4770356362366557]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_16","position":[-0.6381163759886678,0.9750826024577224,0.71338606911949],"aabb_xy":[[-0.6881163763492337,0.9251026152481194],[-0.5881163756281016,1.0250625896673253]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_17","position":[0.550359179109378,-1.8050311565286856,0.71338606911949],"aabb_xy":[[0.4703653555308198,-1.8850311591215274],[0.6303530026879363,-1.7250311539358443]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_18","position":[0.5049823878535347,-1.0391892566722842,0.71338606911949],"aabb_xy":[[0.4858700804955558,-1.0583240355495263],[0.5240946952115135,-1.0200544777950422]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[-0.4299712883978071,-1.7470056071123599,0.71338606911949],"aabb_xy":[[-0.5099712858014004,-1.8269981783105425],[-0.34997129099421365,-1.6670130359141768]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.4421404141690398,-1.3044420666044438,0.71338606911949],"aabb_xy":[[-0.5221404174268828,-1.3844385743964278],[-0.36214041091119686,-1.2244455588124599]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_21","position":[-0.30098919870688384,-0.9159784129675121,0.71338606911949],"aabb_xy":[[-0.3102828169440344,-0.953478411455646],[-0.29169558046973326,-0.8784784144793782]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.6752971171158229,1.3317730958924034,0.71338606911949],"aabb_xy":[[0.6586199811227273,1.3150731719184732],[0.6919742531089184,1.3484730198663337]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_23","position":[-0.5154436031368266,0.1339532516963482,0.71338606911949],"aabb_xy":[[-0.5353346430171669,0.12129744041165136],[-0.49555256325648644,0.14660906298104504]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.6057816517000578,-1.6592386823747725,0.71338606911949],"aabb_xy":[[0.5985204041296504,-1.6720256926382822],[0.6130428992704653,-1.6464516721112632]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_25","position":[-0.16277249961746798,0.0520061233800706,0.71338606911949],"aabb_xy":[[-0.18728612371447384,0.027741530078034156],[-0.13825887552046212,0.07627071668210705]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_26","position":[-0.09778315511724522,-2.2729524733602693,0.71338606911949],"aabb_xy":[[-0.13908769818098118,-2.336952472928386],[-0.05647861205350921,-2.2089524737921518]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977590030712687,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2475.png","name":"2475"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2475.png","name":"2475"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7276.png","name":"7276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6259.png","name":"6259"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6759.png","name":"6759"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3789.png","name":"3789"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":819.5668381593839,"rotation_z_degrees":50.359714155144474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006653144413953958,0.014567099133023936,-0.0075765630297444635]},{"name":"camera_2","offset_m":[-0.016591389508802786,0.007209878722364636,-0.004671316693742678]},{"name":"camera_3","offset_m":[-0.0026918024446587335,0.014120958777090641,0.01396854611656299]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014207183335903043,-0.0005989909622848395,-6.529772072291426e-06],"end_effector_yaw_offset_degrees":0.12387029757612433},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001048422240284205,-0.0012331361794352938,-0.0018011852935867218],"end_effector_yaw_offset_degrees":0.6608307924622454},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00047167662244332656,-0.00043176788875811983,1.149059860444104e-05],"end_effector_yaw_offset_degrees":-0.5634599720195379},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0017835106089807628,-0.0017298980763424399,0.0005779744100827175],"end_effector_yaw_offset_degrees":0.09841220122597738},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00022969799663800396,0.0018395071043213079,0.0013074818218187156],"end_effector_yaw_offset_degrees":-0.16306739233478673},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0013205983225569248,-0.0012806764631121252,-0.00017793129962716497],"end_effector_yaw_offset_degrees":-0.4397299765332381}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0007333411495966773,-0.0014885026426010506],"position_m":[0.31926665885040334,0.351611497357399,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015971411753097561,-0.0015911704900804626],"position_m":[0.18159714117530976,-0.03519117049008046,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004720729796120439,-0.004662482920059341],"position_m":[0.2672792702038796,-0.37196248292005935,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008596042246278579,-0.0026001608640995977],"position_m":[0.33935960422462785,0.1058998391359004,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e849f53b46bcd3d0806f81d1c12f95570f6e4dcc3aab49a39480e510effc215d","episode_index":25,"episode_name":"episode_0025"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0025.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_2475/tex_ceiling_textures_3789/tex_floor_textures_6759/tex_table_textures_7276/tex_wall_textures_6259","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8520973464459288299,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8520973464459288299,"visual_seed":8520973464459288299,"scene_id":"lab_003","finished_at":"2026-09-06T13:33:59"} +{"episode_id":"ep_000026","started_at":"2026-09-06T13:34:05","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_0","position":[0.5929410347843951,0.6961664538069066,0.71338606911949],"aabb_xy":[[0.5429410338338622,0.664617306803385],[0.6429410357349278,0.7277156008104279]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_1","position":[-0.2839619651685804,-0.837191740591249,0.71338606911949],"aabb_xy":[[-0.30847558926558627,-0.8614563338932856],[-0.25944834107157455,-0.8129271472892127]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_2","position":[-0.12148170944635006,-2.0462150302108455,0.71338606911949],"aabb_xy":[[-0.2014817127103632,-2.059775062519759],[-0.041481706182336944,-2.032654997901932]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_3","position":[-0.06063746345908405,1.7333614327880258,0.71338606911949],"aabb_xy":[[-0.07039345296825794,1.7235988987287911],[-0.050881473949910154,1.74312396684726]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_4","position":[0.6411803932696605,-0.9266532345561458,0.71338606911949],"aabb_xy":[[0.595095302014929,-0.9906532318087008],[0.687265484524392,-0.8626532373035906]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_5","position":[-0.5247408033847674,-2.290861189097752,0.71338606911949],"aabb_xy":[[-0.5897408012664153,-2.341984852804293],[-0.4597408055031197,-2.2397375253912113]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[0.49150288101256967,-2.2785230094732265,0.71338606911949],"aabb_xy":[[0.40181580470445416,-2.368523009727677],[0.5811899573206851,-2.188523009218776]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_7","position":[0.2639448156880203,0.9152078659114222,0.71338606911949],"aabb_xy":[[0.24573899202677263,0.9041824653294307],[0.282150639349268,0.926233266493414]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_8","position":[-0.276365935164754,0.4828598542500324,0.71338606911949],"aabb_xy":[[-0.2892378386656941,0.40285985383619627],[-0.2634940316638138,0.5628598546638686]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_9","position":[0.5578903438667542,-0.6468040399426329,0.71338606911949],"aabb_xy":[[0.4778903452794348,-0.7261196418807938],[0.6378903424540736,-0.567488438004472]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[-0.21973792432792866,-1.884530140055221,0.71338606911949],"aabb_xy":[[-0.28373792600592596,-1.933047531534535],[-0.15573792264993128,-1.8360127485759066]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[0.07309386301300758,-1.4619220095738985,0.71338606911949],"aabb_xy":[[0.00909386572735893,-1.5034287285267427],[0.13709386029865622,-1.4204152906210548]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_12","position":[-0.07010516032831082,-1.2042873047922593,0.71338606911949],"aabb_xy":[[-0.1341051610317802,-1.2503056872651805],[-0.006105159624841485,-1.1582689223193385]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.5182456015618256,-1.1650179218797838,0.71338606911949],"aabb_xy":[[-0.5235781162164386,-1.1703422501250196],[-0.5129130869072127,-1.1596935936345485]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[0.2888051929734413,-1.3982477713283386,0.71338606911949],"aabb_xy":[[0.22480519438686886,-1.4452547347278473],[0.3528051915600138,-1.3512408079288298]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_15","position":[-0.6561043700754082,-0.3387522665988456,0.71338606911949],"aabb_xy":[[-0.6641477300013633,-0.42375226769421204],[-0.6480610101494529,-0.2537522655034792]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_16","position":[-0.13370040783902648,0.3716159274203088,0.71338606911949],"aabb_xy":[[-0.15620040765292886,0.3671413110498281],[-0.1112004080251241,0.3760905437907895]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_17","position":[0.3923253234200046,-1.5715408250868972,0.71338606911949],"aabb_xy":[[0.3283253242502346,-1.6183075122058597],[0.4563253225897745,-1.5247741379679347]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.0108311132505724,1.28610582881368,0.71338606911949],"aabb_xy":[[-0.01961234039780863,1.27732608152515],[-0.002049886103336174,1.2948855761022104]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_19","position":[0.2939719348690184,1.460249157740058,0.71338606911949],"aabb_xy":[[0.21397193746542495,1.380256586541875],[0.3739719322726118,1.5402417289382406]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.698870821930885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5284.png","name":"5284"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5563.png","name":"5563"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2797.png","name":"2797"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1245.png","name":"1245"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5773.png","name":"5773"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":787.9023002068459,"rotation_z_degrees":273.2913409135517,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01494277428576138,-0.0016983020967554462,0.01757500905855248]},{"name":"camera_2","offset_m":[0.012175447777107076,0.013363153467701294,-0.01792953765472604]},{"name":"camera_3","offset_m":[0.011314211572436537,0.00934075533653805,0.009802790900502244]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0011069956276117572,-0.0010425521009115673,0.0016966270946950288],"end_effector_yaw_offset_degrees":0.45552944838258225},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.000357974350049074,-0.0014745542442330555,-0.001957168343787343],"end_effector_yaw_offset_degrees":0.4481979674226242},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008440946069054752,0.0018348180548632153,-0.00010831235241539434],"end_effector_yaw_offset_degrees":-0.30342168377996437},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018426032754342953,0.0011654295425454603,0.0006549592572667518],"end_effector_yaw_offset_degrees":0.08229131729316519},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0019398438782061633,-0.0006974666489764382,-0.00012854949364168042],"end_effector_yaw_offset_degrees":0.058361814131511425},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[1.0849219358836926e-05,0.0016048552185242895,-0.0006850569035430757],"end_effector_yaw_offset_degrees":0.41717563612764286}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0015169584626871747,-0.0030315951900745444],"position_m":[0.3184830415373128,0.35006840480992546,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018043238428364717,0.0018057819631418096],"position_m":[0.18180432384283646,-0.03179421803685819,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001988200349971644,-0.002396082626846727],"position_m":[0.27001179965002836,-0.3696960826268467,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003083695328159717,0.0017019226371499264],"position_m":[0.3354163046718403,0.11020192263714992,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3a98122b80ac63243723e94d98e844951f1838d4ef64cff65a514ad347645196","episode_index":26,"episode_name":"episode_0026"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0026.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5284/tex_ceiling_textures_5773/tex_floor_textures_1245/tex_table_textures_5563/tex_wall_textures_2797","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1417333549331580196,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1417333549331580196,"visual_seed":1417333549331580196,"scene_id":"lab_003","finished_at":"2026-09-06T13:40:46"} +{"episode_id":"ep_000027","started_at":"2026-09-06T13:40:52","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_0","position":[0.24871247887269965,-1.707440798311909,0.71338606911949],"aabb_xy":[[0.22038276892415948,-1.7119015405056266],[0.27704218882123993,-1.7029800561181925]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[-0.6037945577087166,-1.703473809380803,0.71338606911949],"aabb_xy":[[-0.6677945548208224,-1.7525061791752135],[-0.539794560596611,-1.6544414395863922]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_2","position":[-0.6020152847183065,1.458935228788341,0.71338606911949],"aabb_xy":[[-0.6117712742274803,1.4491726947291064],[-0.5922592952091326,1.4686977628475752]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_3","position":[0.044998172194352426,1.2266599205837312,0.71338606911949],"aabb_xy":[[0.028936244735834785,1.1416599187711391],[0.06106009965287007,1.3116599223963228]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_4","position":[0.09321717196824664,1.034447249832739,0.71338606911949],"aabb_xy":[[0.08244419804687887,0.9994472516136998],[0.10399014588961443,1.0694472480517778]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_5","position":[0.2516775149283098,-1.8903823949129794,0.71338606911949],"aabb_xy":[[0.17167751166429668,-1.9039424272218928],[0.33167751819232294,-1.876822362604066]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[0.5739386425347175,-1.9753777746941878,0.71338606911949],"aabb_xy":[[0.4839386431163465,-2.0087532715383776],[0.6639386419530883,-1.9420022778499981]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_7","position":[-0.628391191913281,-0.05429750124835353,0.71338606911949],"aabb_xy":[[-0.6529374075360316,-0.0845463977973906],[-0.6038449762905301,-0.024048604699316477]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.3956928246005113,-1.9389267887789425,0.71338606911949],"aabb_xy":[[-0.41819282511255185,-1.9614186471443407],[-0.37319282408847065,-1.916434930413544]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_9","position":[0.11281574050387466,1.6093785990687492,0.71338606911949],"aabb_xy":[[0.032815742523089615,1.6017770581068973],[0.19281573848465972,1.6169801400306012]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_10","position":[-0.045467455065313134,-2.1355114585311696,0.71338606911949],"aabb_xy":[[-0.09544074906857358,-2.185511459085717],[0.004505838937947322,-2.0855114579766223]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_11","position":[0.38593879048478064,-1.7534184085614584,0.71338606911949],"aabb_xy":[[0.3788984805512437,-1.83341840796113],[0.3929791004183177,-1.6734184091617872]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_12","position":[-0.3429245170007172,0.6330477193588231,0.71338606911949],"aabb_xy":[[-0.3880958348488862,0.5690477222142848],[-0.2977531991525482,0.6970477165033616]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_13","position":[0.25776540568872996,-2.3790748948152864,0.71338606911949],"aabb_xy":[[0.17776540867448198,-2.399209446488697],[0.33776540270297795,-2.358940343141875]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_14","position":[-0.0053647475769211805,-1.1573919314734689,0.71338606911949],"aabb_xy":[[-0.040364746769739446,-1.1683589774711314],[0.029635251615897085,-1.146424885475806]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[0.6633284669613444,-2.2783506901454382,0.71338606911949],"aabb_xy":[[0.6408320455274803,-2.3008506899521857],[0.6858248883952085,-2.255850690338691]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_16","position":[-0.30030904575105527,-1.7197330309858456,0.71338606911949],"aabb_xy":[[-0.3127764038607909,-1.7321983556191693],[-0.2878416876413196,-1.7072677063525223]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_17","position":[-0.05399568960772627,-1.740608273193828,0.71338606911949],"aabb_xy":[[-0.08645739048965372,-1.77074110530873],[-0.02153398872579881,-1.710475441078925]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[-0.4669314349950269,-0.7681056929597099,0.71338606911949],"aabb_xy":[[-0.47869962178968445,-0.8531056928649317],[-0.4551632482003694,-0.6831056930544884]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_19","position":[-0.13826738574763353,1.4812247965476293,0.71338606911949],"aabb_xy":[[-0.18826239670708558,1.4312247975120376],[-0.08827237478818149,1.5312247955832212]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_20","position":[0.4519306199888382,1.3656674045324553,0.71338606911949],"aabb_xy":[[0.3879306185808475,1.3138784530085303],[0.5159306213968288,1.4174563560563798]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.0186541199826189,-2.539167935190998,0.71338606911949],"aabb_xy":[[-0.04115325570884587,-2.561667935969261],[0.003845015743608071,-2.5166679344127347]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_22","position":[0.6280298928599493,0.9522770907393086,0.71338606911949],"aabb_xy":[[0.6113527568668538,0.9355771667653782],[0.6447070288530448,0.9689770147132387]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_23","position":[-0.45678556241575324,0.08786546254362637,0.71338606911949],"aabb_xy":[[-0.5217855633728805,0.035917250609920785],[-0.39178556145862603,0.13981367447733192]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_24","position":[0.51393087064846,-0.10806722590619389,0.71338606911949],"aabb_xy":[[0.5066696230780525,-0.12085423616970335],[0.5211921182188675,-0.0952802156426844]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_25","position":[-0.5979206395637522,0.5697437701173134,0.71338606911949],"aabb_xy":[[-0.6879206381582221,0.5534931838038925],[-0.5079206409692822,0.5859943564307345]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_26","position":[-0.026240851122508846,-2.3321856618909504,0.71338606911949],"aabb_xy":[[-0.06374085122810179,-2.339007823743931],[0.011259148983084109,-2.325363500037969]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_27","position":[-0.27555702631520707,-0.27108273607323863,0.71338606911949],"aabb_xy":[[-0.3305502376523438,-0.3260827364120322],[-0.22056381497807032,-0.21608273573444503]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_28","position":[0.2692943037478869,-0.5371554088975619,0.71338606911949],"aabb_xy":[[0.2358541285518672,-0.5705990347284918],[0.30273447894390637,-0.5037117830666317]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_29","position":[-0.11005422919635499,1.1333575245480803,0.71338606911949],"aabb_xy":[[-0.174054231246087,1.0932630414587723],[-0.046054227146622995,1.1734520076373882]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_30","position":[0.5024782132565762,-2.468592357750032,0.71338606911949],"aabb_xy":[[0.45247821230604335,-2.500141504753553],[0.552478214207109,-2.43704321074651]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_31","position":[-0.48595899171911106,-1.3904217355208817,0.71338606911949],"aabb_xy":[[-0.5659589903064305,-1.4697373374590428],[-0.4059589931317917,-1.311106133582721]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_32","position":[-0.11972291052383877,0.14030381781734702,0.71338606911949],"aabb_xy":[[-0.18372291374247662,0.0935807059183387],[-0.055722907305200894,0.1870269297163554]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_33","position":[-0.15093956330955072,1.602617249500573,0.71338606911949],"aabb_xy":[[-0.23093956438267105,1.5928392031631888],[-0.07093956223643039,1.6123952958379577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7027199326174007,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5522.png","name":"5522"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5740.png","name":"5740"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7445.png","name":"7445"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2972.png","name":"2972"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/917.png","name":"917"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":571.5983604369378,"rotation_z_degrees":114.91932467838028,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009453042103491871,0.006025441074197429,0.018783425806555617]},{"name":"camera_2","offset_m":[0.011572000434469949,-0.019123182394020072,0.017494433329581362]},{"name":"camera_3","offset_m":[-0.01717320047995115,-0.00389092932471876,0.002916159761123551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0002871341449272617,-0.0003665732895502484,0.0010233957049763996],"end_effector_yaw_offset_degrees":-0.613348972373728},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0003048684813932727,-0.0004938098577964998,-0.0015661165537880861],"end_effector_yaw_offset_degrees":-0.622747427563344},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00029134979242497394,-0.0011754579206500492,0.0014362483770654472],"end_effector_yaw_offset_degrees":0.42094921622547177},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012853939936215415,0.0016886061925892033,-0.0014142781486729046],"end_effector_yaw_offset_degrees":0.47005810014717575},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010344173962211008,0.001456919208903984,-0.0007111338620830621],"end_effector_yaw_offset_degrees":-0.42706551442989205},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003766456661623667,0.00019875947873645257,0.0018077745089662527],"end_effector_yaw_offset_degrees":0.3329124384478175}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0016855878877912456,0.0001952170124296139],"position_m":[0.3183144121122088,0.35329521701242966,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004999692558727289,0.0015179970980275983],"position_m":[0.18499969255872728,-0.0320820029019724,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004440399809984776,0.0006891812089049598],"position_m":[0.2764403998099848,-0.36661081879109503,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003282004331368789,-0.004581531471092319],"position_m":[0.3417820043313688,0.10391846852890768,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c537a2a01cc00315f9701ce83f181738de49491207a17cd3725b01078c605f5e","episode_index":27,"episode_name":"episode_0027"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0027.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_5522/tex_ceiling_textures_917/tex_floor_textures_2972/tex_table_textures_5740/tex_wall_textures_7445","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4421710664406981246,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4421710664406981246,"visual_seed":4421710664406981246,"scene_id":"lab_003","finished_at":"2026-09-06T13:47:10"} +{"episode_id":"ep_000028","started_at":"2026-09-06T13:47:18","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_0","position":[-0.06411116194073696,-1.452628029422625,0.71338606911949],"aabb_xy":[[-0.09842743911535488,-1.5026280293958028],[-0.02979488476611901,-1.4026280294494473]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_1","position":[-0.07939284364444443,0.5471601846973106,0.71338606911949],"aabb_xy":[[-0.11530634806943411,0.511246676480556],[-0.04347933921945475,0.5830736929140653]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.19604353494471927,1.5047806659133642,0.71338606911949],"aabb_xy":[[-0.24552395615867806,1.4407806680005124],[-0.14656311373076047,1.568780663826216]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[-0.31351421342605784,-0.15199212386729233,0.71338606911949],"aabb_xy":[[-0.32666545939734726,-0.17699212362397887],[-0.30036296745476854,-0.1269921241106058]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_4","position":[0.49775930802105806,0.8460526228203173,0.71338606911949],"aabb_xy":[[0.48973303739043206,0.8373011278429648],[0.505785578651684,0.8548041177976701]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_5","position":[-0.3383005037427869,-1.7916694335337349,0.71338606911949],"aabb_xy":[[-0.3682680606526126,-1.8216694338316204],[-0.30833294683296125,-1.761669433235849]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[-0.43730737475506976,-0.16828700317435397,0.71338606911949],"aabb_xy":[[-0.5023073726367175,-0.2194106668808949],[-0.37230737687342197,-0.11716333946781313]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.17058538832150538,-1.5028197184790217,0.71338606911949],"aabb_xy":[[0.08058538972703547,-1.5190703047924428],[0.2605853869159753,-1.4865691321656007]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_8","position":[-0.6660373581436947,-2.050641957347462,0.71338606911949],"aabb_xy":[[-0.6761190652222681,-2.1306419552395766],[-0.6559556510651211,-1.9706419594553473]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_9","position":[0.3246187029440546,1.7870659068533423,0.71338606911949],"aabb_xy":[[0.24461869968004146,1.773505874544429],[0.4046187062080677,1.8006259391622557]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[0.524273374517142,-1.0451645255526263,0.71338606911949],"aabb_xy":[[0.4642733742657408,-1.099445850589091],[0.5842733747685431,-0.9908832005161616]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[-0.41571111184207593,0.864461586950779,0.71338606911949],"aabb_xy":[[-0.446858030685659,0.7944615882639717],[-0.38456419299849276,0.9344615856375861]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.38999935762532645,1.126799513511763,0.71338606911949],"aabb_xy":[[0.3827381100549191,1.1140125032482535],[0.3972606051957339,1.1395865237752725]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[-0.09134132104836534,0.3216705442707739,0.71338606911949],"aabb_xy":[[-0.11384132129188074,0.30946590961100195],[-0.06884132080484995,0.33387517893054586]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_14","position":[-0.5041804810490367,-1.1164605062114201,0.71338606911949],"aabb_xy":[[-0.5145920397295203,-1.1218062395473185],[-0.49376892236855285,-1.1111147728755217]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_15","position":[-0.3822300457363803,1.4699474408938946,0.71338606911949],"aabb_xy":[[-0.42499675261580044,1.4059474374720924],[-0.33946333885696006,1.5339474443156973]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.4895950545150065,-1.0025372216177257,0.71338606911949],"aabb_xy":[[-0.523035229711026,-1.0359808474486556],[-0.45615487931898685,-0.9690935957867955]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_17","position":[-0.6071910120557156,-1.0700285250400217,0.71338606911949],"aabb_xy":[[-0.6120346068169455,-1.074880177519006],[-0.6023474172944856,-1.0651768725610378]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.3633352845153399,-2.541082782031933,0.71338606911949],"aabb_xy":[[0.3333436217814696,-2.5710827813687334],[0.39332694724921025,-2.5110827826951323]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_19","position":[0.2701553388400849,-1.329273714207793,0.71338606911949],"aabb_xy":[[0.1801553421044747,-1.3824571775250876],[0.3601553355756951,-1.2760902508904985]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_20","position":[0.16312459587615125,-1.055947298484122,0.71338606911949],"aabb_xy":[[0.15968391963609407,-1.0598087314584863],[0.16656527211620842,-1.0520858655097574]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[0.5844125471839319,-1.912274899202537,0.71338606911949],"aabb_xy":[[0.5761980020682477,-1.920951489500178],[0.5926270922996156,-1.9035983089048953]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_22","position":[-0.09758739332797572,0.8698812477478826,0.71338606911949],"aabb_xy":[[-0.17758739073156915,0.7898886765496997],[-0.017587395924382323,0.9498738189460654]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_23","position":[-0.583393792371259,1.2548195572515097,0.71338606911949],"aabb_xy":[[-0.6473937955898968,1.2080964453525014],[-0.5193937891526211,1.301542669150518]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[0.4027338429687284,-0.9938293880986504,0.71338606911949],"aabb_xy":[[0.3935739640248518,-1.0003606061421877],[0.411893721912605,-0.9872981700551134]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.26374664066365766,1.3100649431818558,0.71338606911949],"aabb_xy":[[-0.3135634201284924,1.2600649446975525],[-0.2139298611988229,1.3600649416661592]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_26","position":[0.5905004065934392,-0.5380252847525058,0.71338606911949],"aabb_xy":[[0.5844633935927744,-0.5440519858214541],[0.5965374195941039,-0.5319985836835577]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6948520180273968,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3945.png","name":"3945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3945.png","name":"3945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4352.png","name":"4352"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9026.png","name":"9026"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1635.png","name":"1635"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3004.png","name":"3004"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":608.3544444132375,"rotation_z_degrees":339.54214586952133,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0007697258831179041,0.006823385164607981,-0.015509997012373135]},{"name":"camera_2","offset_m":[0.013414008327023112,0.008145138974535976,0.0016641843446094338]},{"name":"camera_3","offset_m":[0.015617038572953417,-0.008227001555610207,0.013434951587357153]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[9.483592231478068e-05,-0.0012054866403431053,-0.00031303606452033964],"end_effector_yaw_offset_degrees":-0.3184351200241591},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0019449063444210418,0.0006480072517525259,-0.0011277747488351135],"end_effector_yaw_offset_degrees":0.09159767908663108},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005172183672939572,0.0010997535337179082,-0.001730512623045115],"end_effector_yaw_offset_degrees":-0.06006816772279988},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007660131757647108,-0.00180623414339539,0.0010802364853543293],"end_effector_yaw_offset_degrees":0.21956906167969525},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0016250616473430543,0.00014679692168761407,0.0010459035707679983],"end_effector_yaw_offset_degrees":-0.552462991781399},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018874182205016452,-0.0010431537071089857,-0.0009491566429362934],"end_effector_yaw_offset_degrees":-0.3792089039007842}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00040179278811492206,0.0038147328910186845],"position_m":[0.3195982072118851,0.3569147328910187,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00023429011025625363,-0.004212781460419923],"position_m":[0.17976570988974375,-0.03781278146041992,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004055434852301546,0.0018934541774141183],"position_m":[0.2679445651476985,-0.3654065458225859,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0047649190736489275,-0.0017363542572249435],"position_m":[0.343264919073649,0.10676364574277505,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"eb1430e16303a458058055059a82f94e5c45111cc2e5ef26e8aff5f9c1c52513","episode_index":28,"episode_name":"episode_0028"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0028.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3945/tex_ceiling_textures_3004/tex_floor_textures_1635/tex_table_textures_4352/tex_wall_textures_9026","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8014847623006812153,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8014847623006812153,"visual_seed":8014847623006812153,"scene_id":"lab_003","finished_at":"2026-09-06T13:53:35"} +{"episode_id":"ep_000029","started_at":"2026-09-06T13:53:43","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[0.5001556884634764,0.3572433051877191,0.71338606911949],"aabb_xy":[[0.4361556851737683,0.31390838618380146],[0.5641556917531845,0.4005782241916367]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_1","position":[0.6467565726084872,-0.6352081162170367,0.71338606911949],"aabb_xy":[[0.6122942252103453,-0.6697019986148592],[0.6812189200066289,-0.6007142338192138]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_2","position":[-0.3718753232115146,-0.9210583966728509,0.71338606911949],"aabb_xy":[[-0.43687532584930816,-0.972537995372298],[-0.3068753205737212,-0.8695787979734041]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_3","position":[-0.05233833664844445,0.5587777547580868,0.71338606911949],"aabb_xy":[[-0.06317881487495935,0.541591473467438],[-0.041497858421929545,0.5759640360487356]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_4","position":[-0.017584280344850045,-2.4948032815406567,0.71338606911949],"aabb_xy":[[-0.0775842819877719,-2.5468034308326004],[0.04241572129807181,-2.442803132248712]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_5","position":[-0.19030823677126973,0.24475239838752882,0.71338606911949],"aabb_xy":[[-0.2237484119672893,0.21130877255659875],[-0.1568680615752501,0.2781960242184589]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_6","position":[-0.47131001836126174,-0.31001303566119454,0.71338606911949],"aabb_xy":[[-0.551310015764855,-0.3900056068593773],[-0.39131002095766826,-0.2300204644630117]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.1392136079882883,1.2291252475791823,0.71338606911949],"aabb_xy":[[-0.20080436721228115,1.1651252494701354],[-0.07762284876429551,1.2931252456882292]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_8","position":[0.3977232725923183,-1.4290705887062332,0.71338606911949],"aabb_xy":[[0.3327232714863751,-1.4540359617743617],[0.46272327369826166,-1.404105215638105]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[0.6183700318260859,-0.4923723592495226,0.71338606911949],"aabb_xy":[[0.6103437611954599,-0.5011238542268752],[0.6263963024567119,-0.48362086427216994]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_10","position":[-0.17341467928363397,0.8352471139476596,0.71338606911949],"aabb_xy":[[-0.18211264157434925,0.823122139640185],[-0.16471671699291868,0.8473720882551344]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_11","position":[-0.22919050277006386,0.9796796349344761,0.71338606911949],"aabb_xy":[[-0.237233862696019,0.8946796338391098],[-0.22114714284410866,1.0646796360298425]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_12","position":[-0.4746349983176178,-0.48136665172795245,0.71338606911949],"aabb_xy":[[-0.49206571339662425,-0.49863876639180327],[-0.45720428323861123,-0.46409453706410164]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[-0.5099472213661049,1.0660554135796447,0.71338606911949],"aabb_xy":[[-0.5739472199526774,1.0190484501801358],[-0.44594722277953247,1.1130623769791532]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[0.595794193827466,0.10478794271242675,0.71338606911949],"aabb_xy":[[0.5732941943037585,0.08229199526180597],[0.6182941933511733,0.12728389016304753]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_15","position":[-0.4420294088857543,1.4810618240613915,0.71338606911949],"aabb_xy":[[-0.4744911097676817,1.4509289919464887],[-0.4095677080038268,1.511194656176294]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_16","position":[0.06748974578400946,1.4541448312139624,0.71338606911949],"aabb_xy":[[0.012494267963350056,1.3991448297800553],[0.12248522360466883,1.5091448326478691]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_17","position":[-0.43526390741623816,0.7725325843808548,0.71338606911949],"aabb_xy":[[-0.4423042173497752,0.6925325849811835],[-0.4282235974827012,0.8525325837805264]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_18","position":[-0.026419700934631862,0.7770866138992174,0.71338606911949],"aabb_xy":[[-0.035200928081868095,0.7683068666106874],[-0.01763847378739564,0.7858663611877477]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_19","position":[0.41349190304067784,-2.1977848510483464,0.71338606911949],"aabb_xy":[[0.34349189964911586,-2.2331006247517773],[0.4834919064322398,-2.1624690773449156]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_20","position":[-0.37477799400605055,0.26970071348027114,0.71338606911949],"aabb_xy":[[-0.4090942711806685,0.21970071350709336],[-0.3404617168314326,0.3197007134534488]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_21","position":[-0.5028610401779722,-0.6356767068067386,0.71338606911949],"aabb_xy":[[-0.5668610408814415,-0.6816950892796597],[-0.43886103947450283,-0.5896583243338177]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_22","position":[0.45812271325572707,0.64100059365974,0.71338606911949],"aabb_xy":[[0.4131227117894983,0.5960007367982594],[0.5031227147219559,0.6860004505212207]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_23","position":[0.36979126320536926,-0.7965671773029517,0.71338606911949],"aabb_xy":[[0.3571644759181729,-0.8061132510045246],[0.3824180504925656,-0.7870211036013788]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.40694971068144103,-1.9678457774946256,0.71338606911949],"aabb_xy":[[0.39448235257170544,-1.9803111021279494],[0.41941706879117674,-1.9553804528613024]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[0.17425804446531046,1.2421525572219139,0.71338606911949],"aabb_xy":[[0.09425804303518326,1.1626354022093044],[0.25425804589543766,1.3216697122345233]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7006202752310895,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3857.png","name":"3857"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3216.png","name":"3216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2703.png","name":"2703"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8647.png","name":"8647"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2581.png","name":"2581"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":660.3526420541563,"rotation_z_degrees":315.86631176333105,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013564516702766078,-0.0052843984673898396,-0.012533868104849723]},{"name":"camera_2","offset_m":[0.019818585400599952,-0.003436357076137986,0.01019588635070066]},{"name":"camera_3","offset_m":[0.014796049304506943,-0.0068789277356907114,0.018076102718274988]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001177209381389523,-0.0015344604678664369,0.0001529447850843824],"end_effector_yaw_offset_degrees":-0.013005414936791748},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0007128725301352038,0.0008384643291921576,-0.0006774571760035891],"end_effector_yaw_offset_degrees":0.2628161247616849},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007960928716337743,-0.0012655145649875738,0.0010709741957512899],"end_effector_yaw_offset_degrees":0.7570692798541625},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00196662398752368,-0.00059043041969626,-0.000796840389784891],"end_effector_yaw_offset_degrees":-0.30517405483291915},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00027543025858305786,-0.0003212237280437193,0.001625394894313331],"end_effector_yaw_offset_degrees":-0.9121102154315186},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000847140238768689,0.00153201572221891,0.0002619936167576639],"end_effector_yaw_offset_degrees":-0.42163479816369875}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0004537739035044095,0.0001516481847014476],"position_m":[0.3195462260964956,0.35325164818470145,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003708780110956911,-0.003377286787902949],"position_m":[0.1762912198890431,-0.03697728678790295,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0024221479467060915,0.0014136782819797796],"position_m":[0.2744221479467061,-0.3658863217180202,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003739694133934741,-0.0010884938782355765],"position_m":[0.33476030586606526,0.10741150612176442,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"b1a7156f7f1396dc675bdb7c917935685b45b493d7fc36d5eb519237613f7048","episode_index":29,"episode_name":"episode_0029"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0029.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3857/tex_ceiling_textures_2581/tex_floor_textures_8647/tex_table_textures_3216/tex_wall_textures_2703","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3840699963059856661,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3840699963059856661,"visual_seed":3840699963059856661,"scene_id":"lab_003","finished_at":"2026-09-06T14:00:38"} +{"episode_id":"ep_000030","started_at":"2026-09-06T14:00:44","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_0","position":[-0.05709025188664685,-1.162425480373323,0.71338606911949],"aabb_xy":[[-0.12109025517635497,-1.2057603993772406],[0.006909751403061263,-1.1190905613694053]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.39320523087636544,-1.0008824676912291,0.71338606911949],"aabb_xy":[[-0.4066517575104088,-1.0143523193443205],[-0.3797587042423221,-0.9874126160381379]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_2","position":[0.42683241822753515,0.5165301167632559,0.71338606911949],"aabb_xy":[[0.4142297190904587,0.5039347205383904],[0.4394351173646116,0.5291255129881214]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_3","position":[0.27025844317791525,0.9430336891559272,0.71338606911949],"aabb_xy":[[0.23275844460229447,0.9302973934923693],[0.30775844175353606,0.9557699848194852]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_4","position":[0.41737383063084144,1.6356338506365886,0.71338606911949],"aabb_xy":[[0.41345995743541897,1.626884835230032],[0.421287703826264,1.6443828660431457]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_5","position":[0.21757504501095115,-1.5609735598929892,0.71338606911949],"aabb_xy":[[0.12757504641648124,-1.5772241462064103],[0.3075750436054211,-1.5447229735795682]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_6","position":[-0.05323275428294305,-2.430567324350337,0.71338606911949],"aabb_xy":[[-0.1172327515685917,-2.472074043303181],[0.010767243002705595,-2.389060605397493]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_7","position":[-0.39834403456772155,1.202942946625766,0.71338606911949],"aabb_xy":[[-0.4583440350755744,1.1460962129398444],[-0.33834403405986857,1.259789680311687]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[-0.07357610168157802,-1.5246708446035988,0.71338606911949],"aabb_xy":[[-0.15357610493942098,-1.6046673523955828],[0.006423901576264934,-1.4446743368116148]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_9","position":[-0.3667498581753595,-1.6398199728043723,0.71338606911949],"aabb_xy":[[-0.38263435144068464,-1.6541729131031964],[-0.35086536491003434,-1.6254670325055482]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_10","position":[-0.25618299177020426,0.2708404045624384,0.71338606911949],"aabb_xy":[[-0.26633600732435353,0.23477086298969796],[-0.24602997621605477,0.30690994613517864]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_11","position":[-0.4964369029375014,-2.3703642002760477,0.71338606911949],"aabb_xy":[[-0.5464369032980674,-2.42034418748565],[-0.44643690257693525,-2.3203842130664443]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_12","position":[0.20695375492486467,1.0983581151817585,0.71338606911949],"aabb_xy":[[0.19638627526676564,1.08781308506875],[0.21752123458296366,1.108903145294767]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_13","position":[0.2502801366274868,-2.3387147231013765,0.71338606911949],"aabb_xy":[[0.23139575285897662,-2.3576006478817293],[0.26916452039599703,-2.3198287983210237]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_14","position":[0.6851251937219833,-1.4374553260756993,0.71338606911949],"aabb_xy":[[0.6770115390486062,-1.4455611425297281],[0.6932388483953604,-1.42934950962167]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_15","position":[-0.2449453605849644,0.9766014663924047,0.71338606911949],"aabb_xy":[[-0.2674417820188285,0.9541014665856573],[-0.22244893915110028,0.9991014661991522]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_16","position":[0.5162382863382537,-1.0856675622190313,0.71338606911949],"aabb_xy":[[0.5010661170566204,-1.1008364191472346],[0.5314104556198871,-1.070498705290828]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_17","position":[-0.37117003541117777,-2.10048991941349,0.71338606911949],"aabb_xy":[[-0.3766279810481978,-2.180489922721149],[-0.36571208977415764,-2.0204899161058307]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_18","position":[-0.39648916367447484,0.007702669237664939,0.71338606911949],"aabb_xy":[[-0.4024557026152106,0.0017415245783009023],[-0.390522624733739,0.013663813897028976]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_19","position":[-0.43694089364926314,-1.9246648519245306,0.71338606911949],"aabb_xy":[[-0.4448641738880115,-1.9471648521625338],[-0.42901761341051486,-1.902164851686527]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.703059967689339,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5726.png","name":"5726"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5726.png","name":"5726"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/375.png","name":"375"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3470.png","name":"3470"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4899.png","name":"4899"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9716.png","name":"9716"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":723.5608351678105,"rotation_z_degrees":216.2034738865805,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01833779049304222,0.007443538917116608,0.0033210661875711436]},{"name":"camera_2","offset_m":[-0.0196579685458447,-0.01402217536623156,-0.016132560807854527]},{"name":"camera_3","offset_m":[-0.011483136945683165,-0.01903526729675957,-0.003873223010969415]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001714604033721485,-0.001638777521358882,-0.0011767453363207162],"end_effector_yaw_offset_degrees":0.18922337889012053},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0009302676928210534,0.0015614964202018138,-0.0012466847619004206],"end_effector_yaw_offset_degrees":0.38498904020708413},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000570307965839731,-0.00014370842378762694,0.0014655312314452705],"end_effector_yaw_offset_degrees":0.36555288887229986},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.000541116406402205,0.001547236840111963,0.0006313266287312257],"end_effector_yaw_offset_degrees":0.5130678349454185},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017113970843172471,-0.00010609623541146416,-0.00019995117137374947],"end_effector_yaw_offset_degrees":0.44766267790691994},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002041086728326578,0.0007087217221287815,-0.0015568886008411114],"end_effector_yaw_offset_degrees":-0.7654873556169262}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004865325178768933,-0.0006449718315048236],"position_m":[0.3151346748212311,0.3524550281684952,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0014055527526431943,-0.0031147630425612015],"position_m":[0.1814055527526432,-0.0367147630425612,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00444839490295667,5.088742056520105e-05],"position_m":[0.2764483949029567,-0.3672491125794348,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0014454637005919349,0.004566838116271761],"position_m":[0.33705453629940807,0.11306683811627176,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e4bdc8f0224ba3a3dadae9e4676c67de06166699bd024f9121e0bda17120da98","episode_index":30,"episode_name":"episode_0030"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0030.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_5726/tex_ceiling_textures_9716/tex_floor_textures_4899/tex_table_textures_375/tex_wall_textures_3470","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4299257543001933691,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4299257543001933691,"visual_seed":4299257543001933691,"scene_id":"lab_003","finished_at":"2026-09-06T14:07:01"} +{"episode_id":"ep_000031","started_at":"2026-09-06T14:07:09","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_0","position":[-0.5477616264360416,0.4743699643932069,0.71338606911949],"aabb_xy":[[-0.611761628348384,0.41845881513519645],[-0.4837616245236993,0.5302811136512173]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[-0.1380742537501518,-2.0052298549147407,0.71338606911949],"aabb_xy":[[-0.15557425302823868,-2.022567954981086],[-0.12057425447206493,-1.9878917548483943]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_2","position":[0.3744085805370887,1.7385877190901575,0.71338606911949],"aabb_xy":[[0.3656273533898525,1.7298079718016277],[0.38318980768432503,1.7473674663786882]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_3","position":[0.38475771413810245,-0.6238912082998471,0.71338606911949],"aabb_xy":[[0.3509821549474095,-0.6379297035130121],[0.4185332733287954,-0.6098527130866821]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_4","position":[0.5341659437430288,-1.3164860042743887,0.71338606911949],"aabb_xy":[[0.4991659454323334,-1.324201019197934],[0.5691659420537243,-1.3087709893508428]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[0.38123942895494856,1.442918848165657,0.71338606911949],"aabb_xy":[[0.33411004995311283,1.3789188471212548],[0.42836880795678417,1.5069188492100587]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_6","position":[-0.43808181616010866,0.05205087935471253,0.71338606911949],"aabb_xy":[[-0.4755818147357294,0.03931458369115459],[-0.4005818175844878,0.06478717501827047]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[0.5055006287124801,0.45197742618121417,0.71338606911949],"aabb_xy":[[0.4755330718026545,0.4219774258833284],[0.5354681856223058,0.4819774264790999]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.09524468806576658,0.2802544140880281,0.71338606911949],"aabb_xy":[[-0.11274468831081597,0.2627546262484612],[-0.0777446878207172,0.2977542019275949]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_9","position":[-0.12856507708252962,-0.6480431317241555,0.71338606911949],"aabb_xy":[[-0.19256507735650782,-0.6981092319214435],[-0.06456507680855136,-0.5979770315268675]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_10","position":[0.07068974036945908,-1.0821660986643944,0.71338606911949],"aabb_xy":[[0.006689738691461722,-1.1306834901437084],[0.13468974204745643,-1.03364870718508]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_11","position":[-0.13308638150712604,-0.008452404174650319,0.71338606911949],"aabb_xy":[[-0.1830863810834608,-0.058432983126756266],[-0.08308638193079135,0.04152817477745563]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.1935519789043172,-2.183236658450987,0.71338606911949],"aabb_xy":[[-0.19913365053844592,-2.1957366582687623],[-0.1879703072701884,-2.1707366586332117]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_13","position":[-0.15930068276407183,-2.459799171524071,0.71338606911949],"aabb_xy":[[-0.19680068326143005,-2.463767855072189],[-0.12180068226671356,-2.455830487975952]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_14","position":[-0.5652127303547195,1.5641967923236968,0.71338606911949],"aabb_xy":[[-0.6302127313118467,1.5122485803899912],[-0.5002127293975923,1.6161450042574024]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_15","position":[-0.3979066124626669,-0.8310871181363844,0.71338606911949],"aabb_xy":[[-0.45290209028332623,-0.8860871195702912],[-0.34291113464200745,-0.7760871167024773]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[0.110736280986661,-1.8166036174769822,0.71338606911949],"aabb_xy":[[0.09294277405174456,-1.83440336307278],[0.12852978792157743,-1.7988038718811847]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_17","position":[0.20039157726077295,-0.5679672725340925,0.71338606911949],"aabb_xy":[[0.16539157590929118,-0.5883270084909132],[0.23539157861225465,-0.5476075365772716]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_18","position":[-0.36060567732262677,-1.0183292776419608,0.71338606911949],"aabb_xy":[[-0.42560567996042026,-1.0698088763414078],[-0.2956056746848333,-0.9668496789425138]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_19","position":[-0.009000946375321561,-1.4078286250882388,0.71338606911949],"aabb_xy":[[-0.013844541136551536,-1.4126802775672231],[-0.004157351614091587,-1.402976972609255]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994549210027032,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5987.png","name":"5987"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5987.png","name":"5987"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2382.png","name":"2382"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5752.png","name":"5752"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/19.png","name":"19"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8301.png","name":"8301"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":786.7431374526201,"rotation_z_degrees":303.6119790110386,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012863041395957293,0.010662939596174984,0.004982916813070219]},{"name":"camera_2","offset_m":[0.01356211803220617,0.019461228167912775,0.00608727330060364]},{"name":"camera_3","offset_m":[-0.004956503429968992,-0.017877555731546205,-0.012361994940330212]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001311707230255458,0.0012887241821931007,0.0005851244465130009],"end_effector_yaw_offset_degrees":0.03283051904854495},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-2.4789140709360717e-05,-0.0005637357029442294,-9.516809794067344e-05],"end_effector_yaw_offset_degrees":-0.03429400343422517},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0008272304086551156,0.00012208128346166735,0.0010403076328004838],"end_effector_yaw_offset_degrees":0.5257793084976465},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009203599845931088,-0.00027504920965110103,-0.0003585038041127944],"end_effector_yaw_offset_degrees":-0.21950054051596868},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011955773926316006,0.0012533357587501967,-0.0019720963869989793],"end_effector_yaw_offset_degrees":0.7822917509861402},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018654984821543335,-0.0014220129287885503,-0.0006573262938264649],"end_effector_yaw_offset_degrees":-0.9827950787274482}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0014903138403913985,0.004938964350265214],"position_m":[0.3185096861596086,0.3580389643502652,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00373612941452798,-0.0038789033759546367],"position_m":[0.18373612941452797,-0.037478903375954636,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0011162607176218396,0.0015131585807981488],"position_m":[0.27311626071762185,-0.36578684141920187,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019461266533811082,-0.0023550785994578514],"position_m":[0.34044612665338114,0.10614492140054214,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c9bb4ce3d7458f3533eeb78fe613caaa4933899095bf6047d8b962b5496f3999","episode_index":31,"episode_name":"episode_0031"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0031.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_5987/tex_ceiling_textures_8301/tex_floor_textures_19/tex_table_textures_2382/tex_wall_textures_5752","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4741635933133742887,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4741635933133742887,"visual_seed":4741635933133742887,"scene_id":"lab_003","finished_at":"2026-09-06T14:13:50"} +{"episode_id":"ep_000032","started_at":"2026-09-06T14:13:57","dimensions":{"distractor":{"count":29,"items":[{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_0","position":[-0.4330780753453397,1.090202373045274,0.71338606911949],"aabb_xy":[[-0.4680780766968214,1.0698426370884528],[-0.3980780739938579,1.1105621090020945]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_1","position":[-0.2674886548363063,0.830646134900118,0.71338606911949],"aabb_xy":[[-0.31748865578683905,0.7990969878965964],[-0.21748865388577343,0.8621952819036393]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.40223065998502694,-1.105937975257732,0.71338606911949],"aabb_xy":[[0.3422306583421051,-1.1579381245496763],[0.4622306616279488,-1.0539378259657879]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_3","position":[0.1744234249995409,-1.8447589854350623,0.71338606911949],"aabb_xy":[[0.08942342658211766,-1.929633280897347],[0.2594234234169641,-1.7598846899727771]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_4","position":[0.42865793947726516,-1.7171582966052295,0.71338606911949],"aabb_xy":[[0.4111112445611463,-1.7546582981694807],[0.44620463439338415,-1.6796582950409782]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[0.190548704307408,-1.0823706752857738,0.71338606911949],"aabb_xy":[[0.1796429282198453,-1.1623706716846027],[0.20145448039497071,-1.0023706788869444]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_6","position":[-0.5465364586677973,-2.4183087996883574,0.71338606911949],"aabb_xy":[[-0.6365364580861682,-2.451684296532547],[-0.45653645924942643,-2.3849333028441677]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_7","position":[0.2210356059049392,-2.232371074596634,0.71338606911949],"aabb_xy":[[0.19775376370680786,-2.3173710758938615],[0.24431744810307054,-2.1473710732994054]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_8","position":[0.07500270405429899,-0.6482749808500792,0.71338606911949],"aabb_xy":[[0.059446934644033736,-0.6638254140944865],[0.09055847346456426,-0.6327245476056721]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_9","position":[-0.4432876353713549,-2.53370116031922,0.71338606911949],"aabb_xy":[[-0.48183332819655594,-2.5722469313754086],[-0.40474194254615387,-2.495155389263031]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_10","position":[-0.4352319184649591,-0.23928979115661697,0.71338606911949],"aabb_xy":[[-0.44600489238632696,-0.27428978937565596],[-0.4244589445435914,-0.20428979293757799]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.41003714897376886,1.633259160383068,0.71338606911949],"aabb_xy":[[0.37253714830919016,1.6175721023828455],[0.44753714963834756,1.64894621838329]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_12","position":[0.24201892447757156,-0.7305696144176257,0.71338606911949],"aabb_xy":[[0.19202581236837968,-0.7805696150918215],[0.29201203658676345,-0.6805696137434302]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_13","position":[-0.14307665277069337,-1.9152873311163083,0.71338606911949],"aabb_xy":[[-0.20707665499110042,-1.9596604152415964],[-0.07907665055028637,-1.8709142469910198]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_14","position":[0.03502245396389647,0.7882938292621557,0.71338606911949],"aabb_xy":[[-0.044977549293946484,0.7082973214701719],[0.11502245722173943,0.8682903370541398]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_15","position":[-0.3840741633785447,-1.6222277484822896,0.71338606911949],"aabb_xy":[[-0.397520690012588,-1.635697600135381],[-0.37062763674450133,-1.6087578968291982]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_16","position":[0.31985322636369795,-2.0367995073374754,0.71338606911949],"aabb_xy":[[0.27860441533378316,-2.0917995068496924],[0.36110203739361263,-1.9817995078252577]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_17","position":[0.5561260725084023,-1.0658153025707335,0.71338606911949],"aabb_xy":[[0.5062433756307061,-1.1158153018170085],[0.6060087693860985,-1.015815303324459]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_18","position":[-0.04422597966699249,-1.7196127613650487,0.71338606911949],"aabb_xy":[[-0.07207101644759961,-1.7503972601033604],[-0.01638094288638537,-1.688828262626737]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.1589174544688391,1.4094430559185582,0.71338606911949],"aabb_xy":[[-0.17152015360591555,1.396847659693693],[-0.14631475533176264,1.422038452143424]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_20","position":[0.4684349792065905,-2.5236672877493502,0.71338606911949],"aabb_xy":[[0.4044349759168823,-2.567002206753268],[0.5324349824962985,-2.4803323687454326]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_21","position":[0.5887379883227202,-1.907982734013123,0.71338606911949],"aabb_xy":[[0.5641917726999695,-1.93823163056216],[0.6132842039454709,-1.877733837464086]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.47801527358757223,-0.6603716148159597,0.71338606911949],"aabb_xy":[[-0.4893770082408584,-0.6717400812222477],[-0.46665353893428607,-0.6490031484096715]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_23","position":[0.10600591135180693,1.738579526792503,0.71338606911949],"aabb_xy":[[0.10054796571478686,1.658579523484844],[0.11146385698882699,1.8185795301001622]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_24","position":[-0.22030465681552336,-1.0891924629082388,0.71338606911949],"aabb_xy":[[-0.2653046582817522,-1.1341923197697197],[-0.1753046553492945,-1.0441926060467583]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_25","position":[-0.33789038672471144,1.057355342912381,0.71338606911949],"aabb_xy":[[-0.349658573519369,0.9723553430071596],[-0.326122199930054,1.1423553428176028]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_26","position":[-0.131553283562039,-1.3574427817528192,0.71338606911949],"aabb_xy":[[-0.15144432344237924,-1.3700985930375162],[-0.11166224368169875,-1.3447869704681226]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_27","position":[0.2064681925890779,0.6655271764719499,0.71338606911949],"aabb_xy":[[0.18979105659598236,0.6488272524980196],[0.22314532858217337,0.6822271004458802]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_28","position":[0.085589990470614,1.0282238971847928,0.71338606911949],"aabb_xy":[[0.020589990436311267,0.9815232205044655],[0.15058999050491673,1.07492457386512]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999309496793618,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/258.png","name":"258"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/258.png","name":"258"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9235.png","name":"9235"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6799.png","name":"6799"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1831.png","name":"1831"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1125.png","name":"1125"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":799.0080812706908,"rotation_z_degrees":150.75419158122023,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01810559891014142,-0.0064207574317773596,0.007030770494648387]},{"name":"camera_2","offset_m":[0.004029207712441415,-0.013398710286373778,0.0019884337115133495]},{"name":"camera_3","offset_m":[-0.008904798871430307,-0.012082165635922388,0.01978009691220108]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019969118806426453,-5.355313286780207e-05,0.0008329464670104249],"end_effector_yaw_offset_degrees":-0.39508012328826214},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003729687236822144,-0.0010755802591301364,-0.001209795826803737],"end_effector_yaw_offset_degrees":0.7289109009082602},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00020928014038882692,-0.0007950680306291905,0.0011621270845223381],"end_effector_yaw_offset_degrees":-0.7841607499814334},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001819274348073951,-0.0007199806167395768,0.0009148942807112297],"end_effector_yaw_offset_degrees":0.16256461012452128},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00047136634374063185,0.0012090846528220768,0.0005743996244125665],"end_effector_yaw_offset_degrees":0.09729567035153264},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002782776219321663,0.0009418052384109056,-0.0003874484496458517],"end_effector_yaw_offset_degrees":-0.6615510463118024}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004825933756700371,0.0033280165257670554],"position_m":[0.3248259337567004,0.35642801652576706,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00042163330865880536,0.004652171764690572],"position_m":[0.1804216333086588,-0.028947828235309427,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019847851398422343,0.0020195328242112506],"position_m":[0.27398478513984226,-0.36528046717578877,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002984252903809377,0.00211671625777476],"position_m":[0.3414842529038094,0.11061671625777476,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"734aa21238b99b2f94d9538643ad65f9862b1b661173c3db92028ce03991a265","episode_index":32,"episode_name":"episode_0032"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0032.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_258/tex_ceiling_textures_1125/tex_floor_textures_1831/tex_table_textures_9235/tex_wall_textures_6799","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":659569845351296830,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":659569845351296830,"visual_seed":659569845351296830,"scene_id":"lab_003","finished_at":"2026-09-06T14:20:16"} +{"episode_id":"ep_000033","started_at":"2026-09-06T14:20:22","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_0","position":[0.4330929532111092,-1.8875333928073732,0.71338606911949],"aabb_xy":[[0.424311726063873,-1.896313140095904],[0.44187418035834547,-1.8787536455188434]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_1","position":[0.5464071496499439,-2.2733607938458835,0.71338606911949],"aabb_xy":[[0.5337803623627475,-2.2829068675474566],[0.5590339369371402,-2.2638147201443104]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_2","position":[0.09231059238100547,1.765373282656563,0.71338606911949],"aabb_xy":[[0.022310589744419115,1.7452684176606974],[0.16231059501759182,1.7854781476524284]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[-0.16761880145266106,-1.7963409506369574,0.71338606911949],"aabb_xy":[[-0.1769658090349563,-1.8106445728546015],[-0.15827179387036583,-1.7820373284193134]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_4","position":[0.6486007673790954,-1.9737603850129553,0.71338606911949],"aabb_xy":[[0.6377491611302198,-1.9846196757406065],[0.659452373627971,-1.9629010942853045]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.28386290890621657,-1.601351831894446,0.71338606911949],"aabb_xy":[[0.2198629082027473,-1.6473702143673672],[0.34786290960968597,-1.5553334494215252]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.5930426777531563,0.8489090425667878,0.71338606911949],"aabb_xy":[[0.5880866575682752,0.8264090423646662],[0.5979986979380375,0.8714090427689094]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_7","position":[0.45655108752946716,-0.5482337631609728,0.71338606911949],"aabb_xy":[[0.42311091233344755,-0.5816773889919028],[0.48999126272548676,-0.5147901373300426]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[0.4360003010086344,1.2006886776424261,0.71338606911949],"aabb_xy":[[0.4254328213505354,1.1901436475294174],[0.4465677806667334,1.2112337077554345]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_9","position":[-0.6140034819314161,1.6578263128207724,0.71338606911949],"aabb_xy":[[-0.6740034821828172,1.6035449877843075],[-0.5540034816800149,1.7121076378572369]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_10","position":[0.1381355481506824,0.7376801762831229,0.71338606911949],"aabb_xy":[[0.13182344861434397,0.7319132370299041],[0.14444764768702084,0.7434471155363417]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_11","position":[-0.26291681010603873,0.19713289443524973,0.71338606911949],"aabb_xy":[[-0.3129168095462343,0.1471649699509334],[-0.21291681066584306,0.247100818919566]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.3998157004467492,1.1119805544636354,0.71338606911949],"aabb_xy":[[-0.41415012557291264,1.0999203389090966],[-0.38548127532058574,1.1240407700181743]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_13","position":[-0.28819173759205474,-0.949679927551593,0.71338606911949],"aabb_xy":[[-0.2961857261697581,-0.9576800076466833],[-0.2801977490143513,-0.9416798474565026]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_14","position":[0.6264536997457029,1.3538770181631055,0.71338606911949],"aabb_xy":[[0.5896031518087153,1.3163770173400717],[0.6633042476826905,1.3913770189861392]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.6294591054544272,1.2322485533889247,0.71338606911949],"aabb_xy":[[0.6193060899002776,1.196179011816184],[0.6396121210085763,1.2683180949616646]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.001084593987880078,-2.254940180559523,0.71338606911949],"aabb_xy":[[-0.06391540604642265,-2.3016408572398497],[0.06608459402218281,-2.208239503879195]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_17","position":[-0.04435799306980115,0.7883688147032784,0.71338606911949],"aabb_xy":[[-0.10835799541260271,0.7434279634591459],[0.0196420092730004,0.8333096659474108]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_18","position":[-0.2662350124658492,1.472567253853939,0.71338606911949],"aabb_xy":[[-0.2881436946052002,1.450666587033848],[-0.2443263303264981,1.4944679206740294]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_19","position":[0.333508066010183,1.5970291994190036,0.71338606911949],"aabb_xy":[[0.24350806367616395,1.5195468448338907],[0.42350806834420207,1.674511554004116]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_20","position":[-0.32592984735598646,-1.2687151216450223,0.71338606911949],"aabb_xy":[[-0.3730592263578221,-1.332715122689424],[-0.2788004683541508,-1.2047151206006201]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_21","position":[0.660056935919346,0.25412078293225493,0.71338606911949],"aabb_xy":[[0.6566162596792888,0.25025934995789045],[0.6634976121594032,0.2579822159066194]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_22","position":[-0.07462431650123025,-1.52590922383172,0.71338606911949],"aabb_xy":[[-0.15462431366080553,-1.5374568247895368],[0.005375680658345039,-1.5143616228739027]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[0.650264462063826,-0.810696645872188,0.71338606911949],"aabb_xy":[[0.6250436252039862,-0.8359203967250748],[0.6754852989236655,-0.7854728950193013]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[0.5400751762633034,0.16408882682743542,0.71338606911949],"aabb_xy":[[0.4760751729735952,0.12075390782351779],[0.6040751795530114,0.207423745831353]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_25","position":[0.5211588923267847,1.2166457835811508,0.71338606911949],"aabb_xy":[[0.5050969648682669,1.1316457817685588],[0.5372208197853022,1.3016457853937424]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_26","position":[0.6143240226381124,0.4199464311551444,0.71338606911949],"aabb_xy":[[0.5343240240507928,0.34063082921698346],[0.6943240212254317,0.49926203309330525]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_27","position":[-0.1495818787451102,-2.062488312340897,0.71338606911949],"aabb_xy":[[-0.22958188017523737,-2.1420054673535063],[-0.06958187731498297,-1.9829711573282873]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_28","position":[-0.5508070328107348,-1.7673064887435097,0.71338606911949],"aabb_xy":[[-0.5663628022210001,-1.7828569219879171],[-0.5352512634004696,-1.7517560554991027]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_29","position":[0.6155332950373256,1.6836256576569961,0.71338606911949],"aabb_xy":[[0.5515332958675556,1.6368589705380334],[0.6795332942070955,1.7303923447759584]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_30","position":[-0.5631889512570113,-1.4035257384689428,0.71338606911949],"aabb_xy":[[-0.5757916503940879,-1.4161211346938083],[-0.550586252119935,-1.3909303422440773]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_31","position":[0.6281125195743649,-1.1320988521443682,0.71338606911949],"aabb_xy":[[0.5907812430491224,-1.1667519069392205],[0.6654437960996076,-1.097445797349516]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_32","position":[-0.005657038605317077,-2.082543833280727,0.71338606911949],"aabb_xy":[[-0.011751666493435398,-2.0911132278323956],[0.000437589282801242,-2.073974438729058]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_33","position":[-0.195097665966123,0.6137569306582646,0.71338606911949],"aabb_xy":[[-0.24509694113455918,0.5637569293823176],[-0.14509839079768685,0.6637569319342119]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6960873194169288,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3290.png","name":"3290"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3290.png","name":"3290"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3519.png","name":"3519"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3671.png","name":"3671"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3929.png","name":"3929"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2561.png","name":"2561"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":620.4593513156923,"rotation_z_degrees":204.1183258132906,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014664158645390512,0.019980300352028826,0.005398957940286345]},{"name":"camera_2","offset_m":[-0.018777991737474374,-0.010661650778415695,-0.0005659853846081385]},{"name":"camera_3","offset_m":[0.016035411202858046,0.009304798120551166,0.01172367106175436]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00011508195058496009,0.0018006055430892856,6.541247658868599e-05],"end_effector_yaw_offset_degrees":0.22071184489997075},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001082315808770465,-7.164498697811083e-05,0.000505927922221682],"end_effector_yaw_offset_degrees":-0.955279483639289},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011169767412332918,0.0012672651515018792,0.0011061115154784081],"end_effector_yaw_offset_degrees":0.6822469113517518},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017956313475981055,-0.0005625064660944163,0.00024107529869881123],"end_effector_yaw_offset_degrees":0.732166869413452},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0003573569425231163,4.547613070165525e-07,0.0007492575808941884],"end_effector_yaw_offset_degrees":0.7662005425446115},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0002412450386928217,0.0010541375142504683,-0.0018831695466469784],"end_effector_yaw_offset_degrees":-0.43020779323156777}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006631057416241716,-0.00013941260237506064],"position_m":[0.32066310574162415,0.352960587397625,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0027902962334099635,-0.001352843650841804],"position_m":[0.18279029623340995,-0.0349528436508418,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0030115026099345123,0.0012328939302189926],"position_m":[0.26898849739006553,-0.36606710606978105,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0021831813682484003,0.0030556600835284975],"position_m":[0.3363168186317516,0.11155566008352849,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d190aee014f43886ddffce0d66d833e8c3fd7c724581cf5bc551982215d4ffda","episode_index":33,"episode_name":"episode_0033"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0033.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3290/tex_ceiling_textures_2561/tex_floor_textures_3929/tex_table_textures_3519/tex_wall_textures_3671","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8224156959653503159,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8224156959653503159,"visual_seed":8224156959653503159,"scene_id":"lab_003","finished_at":"2026-09-06T14:26:02"} +{"episode_id":"ep_000034","started_at":"2026-09-06T14:26:07","dimensions":{"distractor":{"count":22,"items":[{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_0","position":[-0.5128842831595645,-2.4011858993839037,0.71338606911949],"aabb_xy":[[-0.5928842842326848,-2.410963945721288],[-0.43288428208644414,-2.3914078530465193]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_1","position":[0.5238355409142019,-2.236566714322533,0.71338606911949],"aabb_xy":[[0.4975467165937612,-2.2628381479771837],[0.5501243652346425,-2.2102952806678813]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_2","position":[-0.592902996854377,-2.103322790550665,0.71338606911949],"aabb_xy":[[-0.6429029955002982,-2.1532423342101272],[-0.5429029982084558,-2.0534032468912025]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_3","position":[0.19500483929396084,-1.2582690153664904,0.71338606911949],"aabb_xy":[[0.15750483894573308,-1.2700604109475737],[0.2325048396421886,-1.2464776197854066]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.022925389091504877,-2.245967884333439,0.71338606911949],"aabb_xy":[[-0.05670094828219785,-2.260006379546604],[0.010850170099188098,-2.2319293891202743]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_5","position":[0.18065532260088668,-1.6265561527060743,0.71338606911949],"aabb_xy":[[0.09096824629277125,-1.716556152960525],[0.27034239890900214,-1.536556152451624]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.43670947541188543,-0.9234781020374561,0.71338606911949],"aabb_xy":[[-0.48669242559936465,-0.9734781016800164],[-0.386726525224406,-0.8734781023948955]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_7","position":[0.571149271095365,1.345347852682551,0.71338606911949],"aabb_xy":[[0.5368329939207469,1.2953478527093731],[0.6054655482699828,1.3953478526557286]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[0.37059344567679586,-1.2930136794870632,0.71338606911949],"aabb_xy":[[0.3065934492812228,-1.3569769679057968],[0.43459344207236894,-1.2290503910683297]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.527170554072693,0.2428188022494946,0.71338606911949],"aabb_xy":[[-0.5871705539192598,0.18600018005645585],[-0.4671705542261262,0.2996374244425332]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_10","position":[0.21646668772352784,-1.0484290393140538,0.71338606911949],"aabb_xy":[[0.2130260114834707,-1.0522904722884185],[0.21990736396358504,-1.0445676063396896]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_11","position":[0.006553282605197275,-2.5094192816823906,0.71338606911949],"aabb_xy":[[-0.030946717566674664,-2.5421200170652978],[0.044053282777069214,-2.4767185462994834]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_12","position":[0.5298471912504341,-0.16949776360712931,0.71338606911949],"aabb_xy":[[0.47987389724717355,-0.21949776416167663],[0.5798204852536945,-0.11949776305258195]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.3359613282068654,1.3200643883418235,0.71338606911949],"aabb_xy":[[0.29846132810127246,1.3132422264888424],[0.3734613283124584,1.3268865501948046]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_14","position":[0.3451564719849767,-2.2956660618088653,0.71338606911949],"aabb_xy":[[0.2811564696421751,-2.3406069130529974],[0.40915647432777824,-2.2507252105647324]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_15","position":[0.30670013161740295,-0.5197762921366302,0.71338606911949],"aabb_xy":[[0.2788550948367959,-0.5505607908749419],[0.33454516839801013,-0.48899179339831855]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_16","position":[-0.45053773728387103,-2.0406952871675768,0.71338606911949],"aabb_xy":[[-0.4581620053740493,-2.0483285107041205],[-0.4429134691936928,-2.033062063631033]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_17","position":[-0.44015918600892023,1.3211519560269664,0.71338606911949],"aabb_xy":[[-0.49015918729276015,1.2711731016363441],[-0.3901591847250802,1.3711308104175883]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_18","position":[0.4809363408778802,-1.9229362295832462,0.71338606911949],"aabb_xy":[[0.42093633923495827,-1.9749363788751901],[0.540936342520802,-1.8709360802913018]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_19","position":[-0.5741906394092702,0.8148719226910917,0.71338606911949],"aabb_xy":[[-0.638190636521376,0.765839552896681],[-0.5101906422971646,0.8639042924855023]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_20","position":[0.6439265384334754,-2.288810583928234,0.71338606911949],"aabb_xy":[[0.621426538619573,-2.293285200298714],[0.6664265382473777,-2.284335967557753]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_21","position":[-0.2721396284524522,1.602047934045188,0.71338606911949],"aabb_xy":[[-0.337139628486755,1.5553472573648608],[-0.20713962841814954,1.6487486107255154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972861808616627,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3334.png","name":"3334"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3334.png","name":"3334"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9389.png","name":"9389"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5693.png","name":"5693"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6880.png","name":"6880"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3703.png","name":"3703"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":615.2233659034288,"rotation_z_degrees":268.5737126941847,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.007143480554253748,0.003090998831824319,0.014968211318243555]},{"name":"camera_2","offset_m":[0.005796809942651769,0.0006608959800064006,0.010043319621276022]},{"name":"camera_3","offset_m":[-0.017892704526779945,0.018637660897347964,0.000600668315493099]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015573898674210507,-0.0016657834648493158,-0.0018336583623908371],"end_effector_yaw_offset_degrees":0.30945958899529225},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0011654880957076529,0.001966577826784435,0.0016212021912631104],"end_effector_yaw_offset_degrees":-0.12251337636279347},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013825882649193258,-0.0009015096676194395,-0.0006081171216256523],"end_effector_yaw_offset_degrees":0.019195030697853444},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00039127645756545544,0.00011059428383559076,0.001444676865774405],"end_effector_yaw_offset_degrees":-0.28125274986612103},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005214454011786135,-0.0008082415988881144,0.0012176856529712947],"end_effector_yaw_offset_degrees":0.17385599021140408},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000948365231538822,0.0014049335354180798,0.0013078216760664774],"end_effector_yaw_offset_degrees":-0.21505470261731774}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.00032272778726314885,-0.004473004870971182],"position_m":[0.31967727221273684,0.34862699512902884,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0011278379542021934,0.0046097733530136445],"position_m":[0.18112783795420218,-0.028990226646986354,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0015069323958031068,0.0013877754138188038],"position_m":[0.2704930676041969,-0.3659122245861812,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.001782031372699755,0.0036063870669897453],"position_m":[0.33671796862730025,0.11210638706698975,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"27c761f1277c85fe10bd9d2522d9700ec285defb61a4ce347941aa2ccf1b4ce2","episode_index":34,"episode_name":"episode_0034"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0034.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_3334/tex_ceiling_textures_3703/tex_floor_textures_6880/tex_table_textures_9389/tex_wall_textures_5693","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":581026972953747984,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":581026972953747984,"visual_seed":581026972953747984,"scene_id":"lab_003","finished_at":"2026-09-06T14:32:44"} +{"episode_id":"ep_000035","started_at":"2026-09-06T14:32:49","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_0","position":[-0.07827813535038963,-0.3118739280326652,0.71338606911949],"aabb_xy":[[-0.08219200854581216,-0.320622943439222],[-0.07436426215496711,-0.30312491262610847]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_1","position":[-0.06481001358709326,-2.1714890598383874,0.71338606911949],"aabb_xy":[[-0.1448100146602136,-2.1812671061757714],[0.015189987486027068,-2.1617110135010025]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_2","position":[-0.34654145833378536,-2.063237589453968,0.71338606911949],"aabb_xy":[[-0.35453494812906744,-2.0712357213944435],[-0.3385479685385034,-2.0552394575134922]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.5293134918757394,-0.9174943155026873,0.71338606911949],"aabb_xy":[[-0.5668134920476112,-0.9501950508855945],[-0.49181349170386734,-0.8847935801197802]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_4","position":[0.44945236805188005,1.6346956691860686,0.71338606911949],"aabb_xy":[[0.3694523710888408,1.557620027542295],[0.5294523650149192,1.7117713108298418]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_5","position":[0.4466719178489811,-0.7549986968125542,0.71338606911949],"aabb_xy":[[0.38667191800241424,-0.8118173190055928],[0.5066719176955479,-0.6981800746195155]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_6","position":[-0.1413705178432476,1.3793520694504728,0.71338606911949],"aabb_xy":[[-0.14863176541365503,1.3665650591869634],[-0.1341092702728402,1.3921390797139823]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_7","position":[0.4880705481020797,-1.1315272337615419,0.71338606911949],"aabb_xy":[[0.4749193021307905,-1.1565272335182284],[0.5012217940733692,-1.1065272340048553]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_8","position":[-0.3683562945035227,1.5779493658120827,0.71338606911949],"aabb_xy":[[-0.4058562960191544,1.5667225927959376],[-0.330856292987891,1.5891761388282277]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_9","position":[0.5456224808888819,-0.9458151809124846,0.71338606911949],"aabb_xy":[[0.5034380667280512,-1.0098151811896958],[0.5878068950497127,-0.8818151806352735]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_10","position":[-0.4988281472028908,-0.5171518531990489,0.71338606911949],"aabb_xy":[[-0.5213281474464062,-0.5293564878588208],[-0.4763281469593755,-0.5049472185392769]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.36909086017472625,1.3890052861088256,0.71338606911949],"aabb_xy":[[-0.4390908635662882,1.3536895124053945],[-0.2990908567831642,1.4243210598122562]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_12","position":[-0.5353186519281504,1.201285991159525,0.71338606911949],"aabb_xy":[[-0.5677803528100777,1.1711531590446222],[-0.5028569510462227,1.2314188232744274]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_13","position":[-0.2637659764373331,1.260412749056396,0.71338606911949],"aabb_xy":[[-0.31374892662481235,1.2104127494138355],[-0.2137830262498537,1.3104127486989563]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[0.4501122330259133,-1.5467256736337074,0.71338606911949],"aabb_xy":[[0.4001122343799921,-1.5966452172931698],[0.5001122316718345,-1.496806129974245]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_15","position":[0.6203718358717316,-1.6759295210595642,0.71338606911949],"aabb_xy":[[0.5898875857447015,-1.72592952084106],[0.6508560859987618,-1.6259295212780682]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_16","position":[-0.5755555191986942,0.8802936234833147,0.71338606911949],"aabb_xy":[[-0.6555555163582695,0.8687460225254976],[-0.4955555220391189,0.8918412244411317]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_17","position":[0.6345147395156856,-1.3952651394786302,0.71338606911949],"aabb_xy":[[0.5971834629904431,-1.4299181942734827],[0.6718460160409283,-1.3606120846837781]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_18","position":[-0.44742202455405444,0.8186316320797706,0.71338606911949],"aabb_xy":[[-0.48492202449782074,0.8103385420449339],[-0.4099220246102879,0.8269247221146071]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_19","position":[0.09141865749275357,-2.5419778311682566,0.71338606911949],"aabb_xy":[[0.08270468844281907,-2.5644778318274444],[0.10013262654268805,-2.519477830509068]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_20","position":[-0.23241751103898478,-0.5131257925021306,0.71338606911949],"aabb_xy":[[-0.24063205615466873,-0.5218023827997719],[-0.22420296592330077,-0.5044492022044892]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_21","position":[0.3003629532198955,-0.9843079804173416,0.71338606911949],"aabb_xy":[[0.22036294995588235,-0.9978680127262548],[0.3803629564839086,-0.9707479481084281]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_22","position":[0.6498355119789554,1.655469469073417,0.71338606911949],"aabb_xy":[[0.6155386009612147,1.6211725828634755],[0.6841324229966959,1.6897663552833582]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_23","position":[-0.6231070684953122,-1.6519519460496124,0.71338606911949],"aabb_xy":[[-0.6606070669187125,-1.665116160017443],[-0.5856070700719118,-1.6387877320817814]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.6493657969485862,-2.270579296882356,0.71338606911949],"aabb_xy":[[-0.6528064731886434,-2.2744407298567206],[-0.645925120708529,-2.2667178639079917]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.29015055364326897,1.144082903461893,0.71338606911949],"aabb_xy":[[-0.3126505536534173,1.1299866838222896],[-0.26765055363312074,1.1581791231014962]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_26","position":[-0.39378757594940583,-1.191750198569718,0.71338606911949],"aabb_xy":[[-0.4577875751191757,-1.2385168856886808],[-0.3297875767796358,-1.1449835114507558]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.6115408621091158,-1.2671514175182272,0.71338606911949],"aabb_xy":[[0.5747462289842095,-1.3040572926148095],[0.648335495234022,-1.230245542421645]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_28","position":[-0.10331788344791037,-1.5989410058023519,0.71338606911949],"aabb_xy":[[-0.15733347972981038,-1.6629410086946088],[-0.04930228716601037,-1.5349410029100945]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_29","position":[-0.03220427739600329,1.1470346241319955,0.71338606911949],"aabb_xy":[[-0.09620427468165194,1.1055279051791513],[0.03179571988964536,1.1885413430848393]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_30","position":[-0.4813916403433365,0.6969279844567602,0.71338606911949],"aabb_xy":[[-0.5224095837297074,0.6469279838258029],[-0.44037369695696554,0.7469279850877175]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6976128995861258,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/763.png","name":"763"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/763.png","name":"763"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6245.png","name":"6245"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7011.png","name":"7011"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/471.png","name":"471"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2914.png","name":"2914"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":532.7813849127634,"rotation_z_degrees":37.36769319348117,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003842183961046408,-0.003843846578138549,-0.012159039758789087]},{"name":"camera_2","offset_m":[0.016913305108522996,0.013861831335055367,-0.012483500183830602]},{"name":"camera_3","offset_m":[-0.017593062186226884,-0.015493764091877256,0.005213529754603551]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019509433273315131,0.001678624916064002,-0.0009670820970221197],"end_effector_yaw_offset_degrees":-0.5763898386331137},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004225253014165844,-0.0006531828264638171,-0.001634909006692192],"end_effector_yaw_offset_degrees":0.8679780447207401},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016926879839050894,-0.0015510905088895136,0.001549612831080495],"end_effector_yaw_offset_degrees":0.9466582485753656},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015413998534995043,-0.0009637340899020369,-0.0009541414505898525],"end_effector_yaw_offset_degrees":-0.9198199757499494},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016996674318203063,-0.0011161867198391123,-0.0011967509546715429],"end_effector_yaw_offset_degrees":-0.7610105982620201},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011316194954425853,0.0004969557834132617,0.0007565546280682177],"end_effector_yaw_offset_degrees":0.78603404930945}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0039938393496445216,-0.002077790762282762],"position_m":[0.31600616065035547,0.35102220923771726,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0034896857710189156,-0.0029890876114997155],"position_m":[0.17651031422898109,-0.03658908761149971,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0010319605740852986,0.0015358324526546186],"position_m":[0.27096803942591474,-0.3657641675473454,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0013149110206028738,0.003131134338709255],"position_m":[0.33718508897939714,0.11163113433870925,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"33cca6ae048f7deaf88e8ee99106680c61bef865b153b7169705f39627ead3db","episode_index":35,"episode_name":"episode_0035"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0035.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_763/tex_ceiling_textures_2914/tex_floor_textures_471/tex_table_textures_6245/tex_wall_textures_7011","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4378341644245431136,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4378341644245431136,"visual_seed":4378341644245431136,"scene_id":"lab_003","finished_at":"2026-09-06T14:39:02"} +{"episode_id":"ep_000036","started_at":"2026-09-06T14:39:10","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_0","position":[-0.21016343691195966,-0.3616545387551384,0.71338606911949],"aabb_xy":[[-0.2276634361900465,-0.3789926388214843],[-0.19266343763387275,-0.3443164386887924]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_1","position":[-0.03534057155349846,1.2665934510639643,0.71338606911949],"aabb_xy":[[-0.09033604937415785,1.211593449630057],[0.01965490626716094,1.321593452497871]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_2","position":[0.6375600893535491,-0.9949110500163572,0.71338606911949],"aabb_xy":[[0.6319784177194202,-1.0074110498341327],[0.6431417609876778,-0.9824110501985817]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[-0.47663115478928963,0.29782646596800255,0.71338606911949],"aabb_xy":[[-0.5366311546358564,0.24100784377496381],[-0.4166311549427228,0.3546450881610412]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_4","position":[0.6819297961978379,-1.3011776745463568,0.71338606911949],"aabb_xy":[[0.6594297963839355,-1.3056522909168375],[0.7044297960117403,-1.296703058175876]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_5","position":[0.4290701606221392,-0.5040031355835071,0.71338606911949],"aabb_xy":[[0.40657016011009856,-0.5264949939489054],[0.45157016113417975,-0.4815112772181087]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_6","position":[-0.3258055908335304,-0.5770891026947913,0.71338606911949],"aabb_xy":[[-0.3389568368048198,-0.602089102451478],[-0.3126543448622411,-0.5520891029381049]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_7","position":[0.40534739352221605,1.2761217336801085,0.71338606911949],"aabb_xy":[[0.33534739171347056,1.2547679649159214],[0.47534739533096143,1.297475502444296]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_8","position":[0.13167044716141185,1.4471522858207577,0.71338606911949],"aabb_xy":[[0.11255813980343296,1.4280175069435157],[0.1507827545193907,1.4662870646979997]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_9","position":[-0.44931661195475525,-1.054226675684531,0.71338606911949],"aabb_xy":[[-0.4837790899678431,-1.0608903528674538],[-0.41485413394166754,-1.047562998501608]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_10","position":[-0.6752289130782476,-1.7240448097166952,0.71338606911949],"aabb_xy":[[-0.6871009960897487,-1.8090448094103455],[-0.6633568300667465,-1.6390448100230448]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_11","position":[-0.047348742164672886,-1.5065744207796758,0.71338606911949],"aabb_xy":[[-0.05460998973508031,-1.5193614310431853],[-0.04008749459426548,-1.4937874105161664]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_12","position":[0.6823325524156008,1.1725480414554545,0.71338606911949],"aabb_xy":[[0.6703998180537727,1.1601658886475952],[0.6942652867774288,1.184930194263314]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_13","position":[0.6422648990549455,1.0441648865443578,0.71338606911949],"aabb_xy":[[0.6072649007848256,1.0370907588493694],[0.6772648973250655,1.0512390142393457]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.6637724650280933,-0.7409401567383433,0.71338606911949],"aabb_xy":[[-0.673404101248523,-0.750577469518052],[-0.6541408288076638,-0.7313028439586342]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_15","position":[-0.46379238815630514,1.1549565780123525,0.71338606911949],"aabb_xy":[[-0.4701044876926436,1.1491896387591338],[-0.45748028861996676,1.1607235172655717]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_16","position":[0.0955936595364767,-2.018729643404108,0.71338606911949],"aabb_xy":[[0.04046845390688592,-2.078729644845395],[0.15071886516606747,-1.9587296419628208]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_17","position":[-0.33816210770860816,-1.4385055960403523,0.71338606911949],"aabb_xy":[[-0.35280551326264115,-1.4531643156971363],[-0.3235187021545752,-1.4238468763835679]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_18","position":[0.08988590187372159,-0.7629229526341537,0.71338606911949],"aabb_xy":[[0.004885903456298357,-0.8477972480964386],[0.1748859002911448,-0.6780486571718687]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_19","position":[-0.20399390986620947,0.8295225689659289,0.71338606911949],"aabb_xy":[[-0.24078854299111574,0.7926166938693466],[-0.1671992767413032,0.8664284440625112]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_20","position":[-0.4456521188578331,-0.009251754602133122,0.71338606911949],"aabb_xy":[[-0.46815211886798136,-0.023347974241736402],[-0.4231521188476848,0.004844465037470158]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_21","position":[0.5707593804787163,-1.568080576445898,0.71338606911949],"aabb_xy":[[0.5348458760537267,-1.6039940846626524],[0.606672884903706,-1.5321670682291433]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_22","position":[-0.05654063005777388,0.8722193141329613,0.71338606911949],"aabb_xy":[[-0.12054062648509578,0.8250496903108648],[0.007459366369548019,0.9193889379550577]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_23","position":[-0.6714956002749999,1.710842935891065,0.71338606911949],"aabb_xy":[[-0.6828573349282859,1.699474469484777],[-0.6601338656217136,1.7222114022973531]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_24","position":[-0.28511217244606485,-0.8112175002124749,0.71338606911949],"aabb_xy":[[-0.3072846994227157,-0.8333931673685978],[-0.262939645469414,-0.7890418330563514]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_25","position":[-0.281217570529833,1.6361288749418956,0.71338606911949],"aabb_xy":[[-0.3452175709073666,1.5863836080910834],[-0.21721757015229937,1.685874141792708]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_26","position":[0.2894182780135929,-0.7287422304898541,0.71338606911949],"aabb_xy":[[0.25495593061545097,-0.7632361128876767],[0.32388062541173457,-0.6942483480920313]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_27","position":[-0.6144636902871558,0.251686761048179,0.71338606911949],"aabb_xy":[[-0.6257087458577736,0.24044496332408372],[-0.6032186347165379,0.2629285587722743]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_28","position":[-0.16549077106566057,0.3173064811772024,0.71338606911949],"aabb_xy":[[-0.2154750067738378,0.26730648236370674],[-0.11550653535748334,0.36730647999069793]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_29","position":[0.26386502834092707,0.9135619818656173,0.71338606911949],"aabb_xy":[[0.24718789234783156,0.896862057891687],[0.28054216433402257,0.9302619058395476]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_30","position":[-0.5762074143889142,0.4924816608967535,0.71338606911949],"aabb_xy":[[-0.6262024253483662,0.4424816618611619],[-0.5262124034294622,0.5424816599323453]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_31","position":[0.5864887838748805,0.9553367673584869,0.71338606911949],"aabb_xy":[[0.4964887852804105,0.9390861810450659],[0.6764887824693504,0.971587353671908]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6985228006998891,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6945.png","name":"6945"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4274.png","name":"4274"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8551.png","name":"8551"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9355.png","name":"9355"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3327.png","name":"3327"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.4079208323651,"rotation_z_degrees":206.71604203783966,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.00485508901901433,-0.017616716180611364,-0.003964905471762169]},{"name":"camera_2","offset_m":[-0.016907445967897502,0.010239779674790016,-0.011739822791081945]},{"name":"camera_3","offset_m":[-0.005391395407595421,0.0002380999649269494,0.00711703496760242]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0016652072334587577,-0.0016039253932014024,-0.001469799631511865],"end_effector_yaw_offset_degrees":-0.23849546890332807},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00045457843137163565,-0.00022963680769945058,-0.0017767022100385076],"end_effector_yaw_offset_degrees":-0.41168356516189064},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00046974897139523365,-0.0015633274430076236,-1.8303469184947734e-05],"end_effector_yaw_offset_degrees":0.10625106945315199},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005857895516665403,0.0006123462099467724,-0.0005893694795037984],"end_effector_yaw_offset_degrees":-0.7443943266542583},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0005239174878234412,0.0014317139225592285,-0.00030364707783521396],"end_effector_yaw_offset_degrees":-0.025030891329425042},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009914348812313204,-0.0008704789223364377,-4.62372168956904e-05],"end_effector_yaw_offset_degrees":0.05708547136118969}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.002880467866134246,-0.004971914808140741],"position_m":[0.3228804678661343,0.3481280851918593,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035667805778627363,0.0017206935757342699],"position_m":[0.18356678057786274,-0.03187930642426573,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0024960743695690113,-0.0025527092354058955],"position_m":[0.269503925630431,-0.3698527092354059,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013990510155775567,-0.003950084290404242],"position_m":[0.3398990510155776,0.10454991570959576,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"0236498d85e6a99ba2f0c29f0ccda94e9901270ba8836922268ae4c6401da165","episode_index":36,"episode_name":"episode_0036"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0036.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_6945/tex_ceiling_textures_3327/tex_floor_textures_9355/tex_table_textures_4274/tex_wall_textures_8551","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4725393195144571215,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4725393195144571215,"visual_seed":4725393195144571215,"scene_id":"lab_003","finished_at":"2026-09-06T14:45:18"} +{"episode_id":"ep_000037","started_at":"2026-09-06T14:45:24","dimensions":{"distractor":{"count":26,"items":[{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_0","position":[0.13386939923126173,-1.819683033995033,0.71338606911949],"aabb_xy":[[0.10338514910423158,-1.8696830337765287],[0.1643536493582919,-1.7696830342135368]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_1","position":[-0.12292918595952118,0.051328730867632455,0.71338606911949],"aabb_xy":[[-0.1334966656176202,0.040783700754623904],[-0.11236170630142216,0.06187376098064102]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_2","position":[-0.4103797962708972,-0.8659918928816956,0.71338606911949],"aabb_xy":[[-0.4753797972280244,-0.9179401048154013],[-0.34537979531377,-0.8140436809479902]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_3","position":[-0.49173436208619453,-2.0108336218536613,0.71338606911949],"aabb_xy":[[-0.5099401857474422,-2.021859022435653],[-0.47352853842494685,-1.9998082212716697]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_4","position":[-0.37787895351447387,-2.243361946242691,0.71338606911949],"aabb_xy":[[-0.4277616503921702,-2.2933619454889658],[-0.3279962566367777,-2.1933619469964163]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[0.40821446356002067,-1.7212075319481093,0.71338606911949],"aabb_xy":[[0.3832144640082822,-1.7313500158132438],[0.43321446311175915,-1.7110650480829743]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_6","position":[-0.2486218363772737,-0.761305490362082,0.71338606911949],"aabb_xy":[[-0.28612183756206644,-0.7657237130581422],[-0.21112183519248087,-0.7568872676660212]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.3686851104974656,-1.5167223689514227,0.71338606911949],"aabb_xy":[[-0.43268511217546296,-1.5652397604307369],[-0.30468510881946825,-1.4682049774721084]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_8","position":[0.454322227261555,0.7993199464917082,0.71338606911949],"aabb_xy":[[0.4342638156483148,0.7792548595825507],[0.47438063887479537,0.8193850334008658]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_9","position":[-0.128206989082716,0.21531993787681447,0.71338606911949],"aabb_xy":[[-0.1647028097099947,0.17883599545005688],[-0.09171116845543723,0.25180388030357204]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[0.25608472188134923,-1.6231666194225853,0.71338606911949],"aabb_xy":[[0.24345793459415288,-1.632712693124158],[0.2687115091685456,-1.6136205457210122]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_11","position":[-0.06606424040354109,-1.0241438292301095,0.71338606911949],"aabb_xy":[[-0.07405773019882313,-1.0321419611705853],[-0.05807075060825907,-1.016145697289634]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[-0.0030092737408224934,-1.8049901267172226,0.71338606911949],"aabb_xy":[[-0.00790856604738599,-1.8326670460197911],[0.0018900185657410033,-1.7773132074146536]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[0.37632607094102477,-2.2405181923091027,0.71338606911949],"aabb_xy":[[0.2963260676770116,-2.2540782246180155],[0.45632607420503785,-2.226958160000189]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_14","position":[-0.5449458423103981,-1.857509575475114,0.71338606911949],"aabb_xy":[[-0.634945841728769,-1.890885072319304],[-0.4549458428920272,-1.8241340786309246]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_15","position":[-0.6224808055138931,0.5567803942614207,0.71338606911949],"aabb_xy":[[-0.686480808732531,0.5100572823624123],[-0.5584808022952553,0.603503506160429]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_16","position":[-0.009012891990195837,-2.3785738008040496,0.71338606911949],"aabb_xy":[[-0.06901289183676262,-2.4353924229970882],[0.05098710785637095,-2.321755178611011]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_17","position":[0.4868876694117972,0.7287867100733387,0.71338606911949],"aabb_xy":[[0.4788513347105123,0.7207485907689217],[0.49492400411308196,0.7368248293777553]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_18","position":[-0.4775467192865941,1.6573154231995901,0.71338606911949],"aabb_xy":[[-0.5672337955947095,1.5673154229451394],[-0.38785964297847864,1.7473154234540405]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_19","position":[0.6600222009838339,-0.7466969555830087,0.71338606911949],"aabb_xy":[[0.605022202782089,-0.7872189222094462],[0.7150221991855786,-0.706174988956571]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_20","position":[0.6522755331189847,-2.1582418960470493,0.71338606911949],"aabb_xy":[[0.6418639744385009,-2.1635876293829472],[0.6626870917994683,-2.1528961627111505]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_21","position":[-0.22238192325664757,-2.102746587445612,0.71338606911949],"aabb_xy":[[-0.26363073428656225,-2.157746586957829],[-0.18113311222673284,-2.047746587933394]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.2436946327080241,-2.455832580167824,0.71338606911949],"aabb_xy":[[-0.27801090988264204,-2.5058325801410017],[-0.20937835553340617,-2.4058325801946463]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_23","position":[0.3050779058786657,0.6274339185234661,0.71338606911949],"aabb_xy":[[0.22507790371590325,0.5474787348973225],[0.3850779080414282,0.7073891021496097]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_24","position":[0.5907314931666825,-1.7091874575968151,0.71338606911949],"aabb_xy":[[0.5267314912543402,-1.7650986068548258],[0.6547314950790248,-1.653276308338805]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_25","position":[-0.04625607044558544,1.801847546115075,0.71338606911949],"aabb_xy":[[-0.06875607045573373,1.7877513264754719],[-0.023756070435437142,1.8159437657546784]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7022194647511172,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6553.png","name":"6553"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4546.png","name":"4546"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5366.png","name":"5366"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1897.png","name":"1897"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7297.png","name":"7297"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.3702288585894,"rotation_z_degrees":280.86531812159683,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0010779314753404864,-0.007770134467651228,-0.013376577564061432]},{"name":"camera_2","offset_m":[0.006910021880816637,0.0030879440378380092,-0.009085094058644097]},{"name":"camera_3","offset_m":[-0.0021726519100541894,0.01168705962971359,-0.0170634058552523]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-5.762771281596617e-06,0.0016324957002259157,0.0014095122923178651],"end_effector_yaw_offset_degrees":-0.6307714269185403},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010194111822758789,-0.000829492392233111,0.0008810332587657257],"end_effector_yaw_offset_degrees":0.33950490720373816},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014053991112560498,0.00011098705476787112,0.0016971698334400467],"end_effector_yaw_offset_degrees":-0.18361216231869348},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018098221766308057,0.0013520650256737083,-0.0007832569628548503],"end_effector_yaw_offset_degrees":0.8222576990828787},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0004867360868679627,-0.0005762271425091283,0.000771760666832798],"end_effector_yaw_offset_degrees":0.6730897071059156},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000574074441786579,-0.0014153706068332213,0.0005508602805452023],"end_effector_yaw_offset_degrees":-0.5119680273011407}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003000554465927967,0.0004804783750383566],"position_m":[0.31699944553407206,0.35358047837503837,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033334456169873783,-0.0045772907024448075],"position_m":[0.17666655438301263,-0.038177290702444806,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004787215610934848,0.0022185932771868963],"position_m":[0.2767872156109349,-0.36508140672281314,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004877020390606415,0.00023966894172701338],"position_m":[0.3433770203906064,0.10873966894172701,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1338914a133f527c53eda2278d82d5ae1481fb857813a1e399da5c794774b1d7","episode_index":37,"episode_name":"episode_0037"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0037.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6553/tex_ceiling_textures_7297/tex_floor_textures_1897/tex_table_textures_4546/tex_wall_textures_5366","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3313614973939849711,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3313614973939849711,"visual_seed":3313614973939849711,"scene_id":"lab_003","finished_at":"2026-09-06T14:52:03"} +{"episode_id":"ep_000038","started_at":"2026-09-06T14:52:10","dimensions":{"distractor":{"count":20,"items":[{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_0","position":[0.6241584192952265,-2.210737087551516,0.71338606911949],"aabb_xy":[[0.5341584207007567,-2.226987673864938],[0.7141584178896966,-2.1944865012380954]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_1","position":[0.1078005937613431,-0.8087816212317487,0.71338606911949],"aabb_xy":[[0.09910263147062781,-0.8209065955392235],[0.11649855605205839,-0.7966566469242741]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_2","position":[-0.41821753063761263,-0.7000658697273103,0.71338606911949],"aabb_xy":[[-0.49821753091121956,-0.7730154175530269],[-0.3382175303640056,-0.6271163219015935]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_3","position":[-0.11114337414375541,-0.3735476536761775,0.71338606911949],"aabb_xy":[[-0.11647588879836841,-0.37887198192141314],[-0.10581085948914244,-0.36822332543094194]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.5450401507065301,-1.2099698282740858,0.71338606911949],"aabb_xy":[[0.5112645915158371,-1.2240083234872507],[0.5788157098972231,-1.195931333060921]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_5","position":[-0.28199718415580705,0.5116421256852797,0.71338606911949],"aabb_xy":[[-0.33199718551669427,0.4616642211098641],[-0.23199718279491985,0.5616200302606953]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_6","position":[-0.473168438845199,-1.2658445624409262,0.71338606911949],"aabb_xy":[[-0.51418638223157,-1.3158445630718836],[-0.43215049545882817,-1.215844561809969]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_7","position":[-0.4033337994935322,0.7173418244425402,0.71338606911949],"aabb_xy":[[-0.4152058825050333,0.6323418247488899],[-0.3914617164820311,0.8023418241361906]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.3664941222403575,0.11013017646073964,0.71338606911949],"aabb_xy":[[-0.4464941233134779,0.1003521301233552],[-0.2864941211672372,0.11990822279812408]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_9","position":[-0.08910412594536987,-2.4877744350054027,0.71338606911949],"aabb_xy":[[-0.17282635144545233,-2.5777744385400982],[-0.005381900445287413,-2.3977744314707063]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_10","position":[0.6801351408326366,1.1887143668033406,0.71338606911949],"aabb_xy":[[0.6623416338977202,1.170914621207543],[0.697928647767553,1.2065141123991383]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_11","position":[-0.583745832159008,1.3070119605622255,0.71338606911949],"aabb_xy":[[-0.5938988477131573,1.270942418989485],[-0.5735928166048585,1.3430815021349656]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[-0.4484993817245344,1.3831142222005073,0.71338606911949],"aabb_xy":[[-0.46283380685069786,1.3710540066459684],[-0.43416495659837095,1.3951744377550461]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_13","position":[-0.6589350045026524,-0.5448790898530169,0.71338606911949],"aabb_xy":[[-0.6741071737842858,-0.5600479467812203],[-0.6437628352210191,-0.5297102329248136]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_14","position":[-0.08054448592675056,-1.5606186597635654,0.71338606911949],"aabb_xy":[[-0.08538808068798055,-1.5654703122425497],[-0.0757008911655206,-1.5557670072845815]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_15","position":[-0.035316786574321246,-0.9064853462912472,0.71338606911949],"aabb_xy":[[-0.0993167857440912,-0.9532520334102097],[0.028683212595448693,-0.8597186591722847]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_16","position":[0.6028221623145746,0.09353918631221703,0.71338606911949],"aabb_xy":[[0.5428221614537617,0.042112756305730616],[0.6628221631753873,0.14496561631870336]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.6111688096644788,0.6025018195244947,0.71338606911949],"aabb_xy":[[-0.6611688113259735,0.5525033772687918],[-0.561168808002984,0.6525002617801973]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_18","position":[-0.22394125310902785,1.5291761719949286,0.71338606911949],"aabb_xy":[[-0.27893350374453885,1.4741761702516158],[-0.1689490024735169,1.5841761737382416]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_19","position":[-0.6204593360648328,-1.2168196735321077,0.71338606911949],"aabb_xy":[[-0.6312998142913477,-1.2340059548227567],[-0.6096188578383179,-1.1996333922414588]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943702868634248,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5592.png","name":"5592"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5592.png","name":"5592"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8512.png","name":"8512"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6876.png","name":"6876"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8563.png","name":"8563"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3688.png","name":"3688"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":763.7014272950152,"rotation_z_degrees":59.456916506209986,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01105257564315422,0.010651439073775602,-0.00718967091268698]},{"name":"camera_2","offset_m":[0.0057135157951307865,-0.0037665750218233325,0.016979625688732767]},{"name":"camera_3","offset_m":[-0.006356777714257694,-0.018846308330914815,-0.0023265668526516944]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000575693733874405,0.0013467176095855854,-0.0006496208107737136],"end_effector_yaw_offset_degrees":0.17840451067972407},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003824728458214253,-0.0005663649024448879,0.00020670776249784523],"end_effector_yaw_offset_degrees":0.6210880654954567},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018367411356780615,-0.00031783899130027166,-0.0003385391283309005],"end_effector_yaw_offset_degrees":-0.9254144747810633},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004127214249323053,0.0018797391768284682,-0.001183520905810798],"end_effector_yaw_offset_degrees":0.7401781935592768},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006051969171832431,0.0017548677007396788,0.0017425260516075883],"end_effector_yaw_offset_degrees":-0.7558255406940839},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00192962848234054,-0.0005918764037688665,-0.0005217332558256186],"end_effector_yaw_offset_degrees":0.9271098061264551}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0026986875628356192,0.0029157813702765786],"position_m":[0.32269868756283565,0.3560157813702766,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008694742951756654,0.00011587037733431279],"position_m":[0.17913052570482432,-0.033484129622665684,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004902242283223481,0.0014408336936481596],"position_m":[0.2670977577167765,-0.36585916630635185,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0025057610441098035,-0.0033817940901515655],"position_m":[0.3359942389558902,0.10511820590984844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3b82c8a0122543d8f319beac628c81e96498a346b4adf9497f2520cb140dd531","episode_index":38,"episode_name":"episode_0038"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0038.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_5592/tex_ceiling_textures_3688/tex_floor_textures_8563/tex_table_textures_8512/tex_wall_textures_6876","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3602446574531680239,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3602446574531680239,"visual_seed":3602446574531680239,"scene_id":"lab_003","finished_at":"2026-09-06T14:59:06"} +{"episode_id":"ep_000039","started_at":"2026-09-06T14:59:12","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_0","position":[-0.6051563201484327,-0.052367939381518624,0.71338606911949],"aabb_xy":[[-0.613284008341746,-0.06128154779222628],[-0.5970286319551196,-0.04345433097081098]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_1","position":[0.5177438424264966,-0.1521658987115404,0.71338606911949],"aabb_xy":[[0.4834469314087559,-0.18646278492148177],[0.5520407534442371,-0.11786901250159904]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.5926845613904299,0.06306904243979261,0.71338606911949],"aabb_xy":[[-0.6301845618877882,0.0591003588916742],[-0.5551845608930717,0.06703772598791102]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_3","position":[0.30565155715595727,0.7593397493973,0.71338606911949],"aabb_xy":[[0.22565155572583007,0.6798225943846905],[0.38565155858608446,0.8388569044099095]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[0.21896491681117602,-2.0562805898101946,0.71338606911949],"aabb_xy":[[0.18518935762048305,-2.0703190850233595],[0.252740476001869,-2.0422420945970297]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_5","position":[0.36854001788588886,1.6643204922626862,0.71338606911949],"aabb_xy":[[0.313540018264143,1.6093367994752137],[0.4235400175076347,1.7193041850501591]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_6","position":[0.5196630080086191,1.1063080668506484,0.71338606911949],"aabb_xy":[[0.4556630088388492,1.059541379731686],[0.583663007178389,1.153074753969611]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_7","position":[-0.12969761252793954,-1.6885368352599102,0.71338606911949],"aabb_xy":[[-0.164697610838635,-1.696251850183456],[-0.0946976142172441,-1.6808218203363647]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_8","position":[-0.4681109779902571,-0.044201721297293606,0.71338606911949],"aabb_xy":[[-0.5056109778072905,-0.04883993260843547],[-0.4306109781732234,-0.03956350998615174]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_9","position":[-0.12205431834764013,1.5319330408391676,0.71338606911949],"aabb_xy":[[-0.20204814192619835,1.451933038246326],[-0.04206049476908193,1.6119330434320092]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.45146071493183554,-0.35760803473418923,0.71338606911949],"aabb_xy":[[-0.5414607143502064,-0.3909835315783789],[-0.3614607155134647,-0.32423253788999945]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_11","position":[0.2985526429343792,-1.2767116173029354,0.71338606911949],"aabb_xy":[[0.2948493816052403,-1.2804136356116533],[0.3022559042635181,-1.2730095989942174]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_12","position":[-0.619176655095112,0.16682969953890625,0.71338606911949],"aabb_xy":[[-0.6841766536521848,0.1370771661250236],[-0.5541766565380392,0.19658223295278884]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_13","position":[0.3667207464725357,-1.128825786807526,0.71338606911949],"aabb_xy":[[0.34922074733816855,-1.1387054138451138],[0.3842207456069029,-1.1189461597699382]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.09590013304197897,0.4379284445203817,0.71338606911949],"aabb_xy":[[-0.10680590912954169,0.3579284481215526],[-0.08499435695441626,0.5179284409192109]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_15","position":[-0.3876156054524275,0.18337655125706043,0.71338606911949],"aabb_xy":[[-0.45761560705470705,0.16994375805540288],[-0.3176156038501481,0.19680934445871803]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_16","position":[0.5471415076379325,-2.217077581207969,0.71338606911949],"aabb_xy":[[0.5339902616666432,-2.242077580964656],[0.5602927536092219,-2.192077581451283]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_17","position":[-0.2816448994653196,-1.0273453300181157,0.71338606911949],"aabb_xy":[[-0.32877427846715523,-1.0913453310625172],[-0.2345155204634839,-0.9633453289737133]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_18","position":[-0.03495750239955975,1.7106364931724038,0.71338606911949],"aabb_xy":[[-0.09895750431190209,1.6547253439143936],[0.029042499512782587,1.7665476424304145]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_19","position":[-0.23084145516511123,1.7990753366163692,0.71338606911949],"aabb_xy":[[-0.2633031560470386,1.7689425045014662],[-0.19837975428318372,1.8292081687312713]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_20","position":[0.022900898944412162,-1.3611513141527996,0.71338606911949],"aabb_xy":[[-0.0270991014161539,-1.4111313013624023],[0.07290089930497821,-1.3111713269431964]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_21","position":[0.1659810190146228,-1.1891324330668323,0.71338606911949],"aabb_xy":[[0.10098101637682932,-1.2406120317662792],[0.2309810216524163,-1.1376528343673853]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_22","position":[0.20756361835642734,-0.9169650663011715,0.71338606911949],"aabb_xy":[[0.1899853161674805,-0.9345395558752763],[0.22514192054537419,-0.8993905767270665]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_23","position":[-0.0001474557084136796,-2.466044537355917,0.71338606911949],"aabb_xy":[[-0.007391221754659005,-2.5460445355595196],[0.007096310337831646,-2.386044539152315]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_24","position":[-0.27913907063747506,-2.2326448346910968,0.71338606911949],"aabb_xy":[[-0.2855528842806599,-2.2390546549387644],[-0.27272525699429,-2.226235014443428]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_25","position":[0.08863150500067463,-2.1623095322725208,0.71338606911949],"aabb_xy":[[0.07887551549150074,-2.172072066331755],[0.09838749450984852,-2.1525469982132863]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_26","position":[0.4707489823566253,-0.5245465342319564,0.71338606911949],"aabb_xy":[[0.4007489805478799,-0.5459003029961438],[0.5407489841653708,-0.503192765467769]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_27","position":[-0.5438132504064442,-1.5933467502505072,0.71338606911949],"aabb_xy":[[-0.5888132518726732,-1.6383466071119883],[-0.4988132489402155,-1.548346893389027]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6967384944340289,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2915.png","name":"2915"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2915.png","name":"2915"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1928.png","name":"1928"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/973.png","name":"973"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9214.png","name":"9214"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4307.png","name":"4307"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":769.2472604614743,"rotation_z_degrees":317.5923896034311,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015415796329155181,-0.006029898877416647,0.012460287942212277]},{"name":"camera_2","offset_m":[0.01139768446740103,0.016515737997964085,0.0018288676895975159]},{"name":"camera_3","offset_m":[-0.003418034300631083,-0.017443494897680264,-0.010806790047874562]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[8.998002775754141e-05,-0.0018158061480939658,0.0008420580495311944],"end_effector_yaw_offset_degrees":-0.7692107673420989},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0007640629670847233,0.0002131470019208618,-0.0005945967108348124],"end_effector_yaw_offset_degrees":-0.8421432238725333},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0010087908849634192,-0.0007448657972381999,-0.001666032082453642],"end_effector_yaw_offset_degrees":-0.8420752474377309},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017287020622874633,0.0016711964933820034,-0.0006278627700066904],"end_effector_yaw_offset_degrees":0.47558046862377035},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0019446089598249396,0.00022907738512749527,-0.00012367387450713308],"end_effector_yaw_offset_degrees":-0.15107438520548677},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001446968056144048,-0.00019598728736293976,-0.0007665184002119516],"end_effector_yaw_offset_degrees":-0.5734402160235679}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00393451571865753,0.0013006130632419455],"position_m":[0.32393451571865756,0.354400613063242,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0008695465137696411,0.0013788850117442642],"position_m":[0.18086954651376963,-0.032221114988255736,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0007534054063247442,0.003661151422908171],"position_m":[0.2712465945936753,-0.36363884857709183,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004195389266346868,-0.0003612752123211202],"position_m":[0.3426953892663469,0.10813872478767889,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3ffab6a01345f517d49fdf997de8de3f1a919606a5443242da0458d2a349bc18","episode_index":39,"episode_name":"episode_0039"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0039.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_2915/tex_ceiling_textures_4307/tex_floor_textures_9214/tex_table_textures_1928/tex_wall_textures_973","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6238605567211948829,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6238605567211948829,"visual_seed":6238605567211948829,"scene_id":"lab_003","finished_at":"2026-09-06T15:06:11"} +{"episode_id":"ep_000040","started_at":"2026-09-06T15:06:17","dimensions":{"distractor":{"count":29,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.48344470434440134,-0.7313904642301496,0.71338606911949],"aabb_xy":[[-0.49659595031569076,-0.7563904639868363],[-0.47029345837311204,-0.7063904644734631]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_1","position":[-0.503036129314987,1.1503566090256134,0.71338606911949],"aabb_xy":[[-0.5531335932960606,1.0863566085158016],[-0.45293866533391336,1.2143566095354252]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_2","position":[-0.09429879640665095,-1.9987022647650048,0.71338606911949],"aabb_xy":[[-0.15829879280222403,-2.062665553183739],[-0.030298800011077875,-1.9347389763462717]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_3","position":[0.26642204296874605,0.7821939674620171,0.71338606911949],"aabb_xy":[[0.20142204481282694,0.7558977229121049],[0.33142204112466506,0.8084902120119293]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_4","position":[0.6828362919707864,1.50527692119176,0.71338606911949],"aabb_xy":[[0.657836292419048,1.495134437326625],[0.7078362915225249,1.5154194050568945]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.17868010417924574,-2.231313069493344,0.71338606911949],"aabb_xy":[[0.17141885660883832,-2.244100079756854],[0.18594135174965315,-2.218526059229835]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_6","position":[0.6503107668874768,0.9447812835598599,0.71338606911949],"aabb_xy":[[0.6370798213527954,0.9315538645378605],[0.663541712422158,0.9580087025818593]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_7","position":[0.521241493406817,0.21015824153409124,0.71338606911949],"aabb_xy":[[0.5156598217726882,0.19765824171631574],[0.5268231650409458,0.22265824135186674]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_8","position":[0.653970839888157,-0.43474346766373495,0.71338606911949],"aabb_xy":[[0.632081092299216,-0.5247434649529839],[0.6758605874770977,-0.3447434703744857]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_9","position":[-0.4736156954252553,-1.649062488708727,0.71338606911949],"aabb_xy":[[-0.4818302405409392,-1.6577390790063684],[-0.46540115030957124,-1.6403858984110857]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[0.1693306877890236,-0.8888530080102224,0.71338606911949],"aabb_xy":[[0.10533068573929161,-0.9289474910995303],[0.2333306898387556,-0.8487585249209144]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_11","position":[-0.40779598140046835,-1.022781530477876,0.71338606911949],"aabb_xy":[[-0.4452959813442348,-1.0310746205127126],[-0.370295981456702,-1.0144884404430394]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_12","position":[0.6264474496182555,-1.5433273148067588,0.71338606911949],"aabb_xy":[[0.6095367171819137,-1.556799520399373],[0.6433581820545973,-1.5298551092141441]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_13","position":[0.4428750479286181,-1.3420942417398394,0.71338606911949],"aabb_xy":[[0.4053750467438253,-1.3465124644358994],[0.4803750491134109,-1.3376760190437784]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_14","position":[-0.36093826019331393,-2.464072504949203,0.71338606911949],"aabb_xy":[[-0.4109212103807932,-2.514072504591763],[-0.31095531000583454,-2.4140725053066423]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.07158180911289325,1.4741258602765472,0.71338606911949],"aabb_xy":[[0.04866609622784335,1.451221563140124],[0.09449752199794316,1.497030157412971]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_16","position":[-0.11281028100397439,-0.9720034617351487,0.71338606911949],"aabb_xy":[[-0.13060378793889083,-0.9898032073309464],[-0.09501677406905797,-0.9542037161393511]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_17","position":[-0.30154033889865534,0.34814018117765455,0.71338606911949],"aabb_xy":[[-0.35153961406709155,0.2981401799017074],[-0.2515410637302192,0.3981401824536017]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_18","position":[-0.3431924379079738,-1.99445747312582,0.71338606911949],"aabb_xy":[[-0.3590769311732989,-2.0088104134246443],[-0.3273079446426486,-1.980104532826996]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_19","position":[0.5943410125461634,0.30538101269004336,0.71338606911949],"aabb_xy":[[0.5443410115956305,0.27383186568652196],[0.6443410134966961,0.33693015969356477]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[-0.5687218583120449,-0.6090970353494563,0.71338606911949],"aabb_xy":[[-0.6337218609498384,-0.6605766340489032],[-0.5037218556742514,-0.5576174366500093]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.17621354943635947,-1.0966979512054047,0.71338606911949],"aabb_xy":[[-0.24021354873052767,-1.160684091574259],[-0.11221355014219123,-1.0327118108365505]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.10915248800700927,0.5216204160306384,0.71338606911949],"aabb_xy":[[-0.11656494354839773,0.5157692056090104],[-0.10174003246562079,0.5274716264522663]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.10837848718132914,1.7727028051131266,0.71338606911949],"aabb_xy":[[-0.1308776229075561,1.7502028043348634],[-0.08587935145510217,1.7952028058913894]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.246544818426074,1.6466216575464334,0.71338606911949],"aabb_xy":[[-0.2499854946661312,1.6427602245720692],[-0.24310414218601686,1.6504830905207981]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_25","position":[0.5984850560862063,-1.1586515863656863,0.71338606911949],"aabb_xy":[[0.508485059350596,-1.2118350496829808],[0.6884850528218164,-1.1054681230483918]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_26","position":[-0.034078740281042186,0.32697359306924945,0.71338606911949],"aabb_xy":[[-0.04112019123178978,0.31994684133145485],[-0.02703728933029459,0.33400034480704394]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_27","position":[-0.2608802829843497,-1.496556427866159,0.71338606911949],"aabb_xy":[[-0.34088028325795666,-1.5695059756918757],[-0.18088028271074272,-1.4236068800404422]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_28","position":[0.670239825929295,0.5151012125965306,0.71338606911949],"aabb_xy":[[0.6202398263529604,0.4651206336444248],[0.7202398255056298,0.5650817915486367]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.700470924790441,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4206.png","name":"4206"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8969.png","name":"8969"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9792.png","name":"9792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3792.png","name":"3792"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4801.png","name":"4801"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":601.2770671782014,"rotation_z_degrees":269.08153059975206,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.016112233501559426,0.018844643310129725,-0.008374226622644235]},{"name":"camera_2","offset_m":[-0.009126841886113676,-0.013081806706624125,-0.009455072889436708]},{"name":"camera_3","offset_m":[0.007086081650583477,0.010790451855606231,-0.003302139555866064]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016332279101338096,-0.0015183579368204128,-0.001754646793310938],"end_effector_yaw_offset_degrees":0.31759690100182936},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00018457874266857824,0.0009546907778360415,8.516198017602351e-05],"end_effector_yaw_offset_degrees":0.6401909627345841},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005683063228658228,-0.0016983986190575338,0.0014068940934636731],"end_effector_yaw_offset_degrees":-0.5003098029985316},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000257396374074707,-0.0012230116997609271,0.00010808289155534714],"end_effector_yaw_offset_degrees":-0.030791114637954697},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015426401841003514,0.0013000450359190387,0.000954634325397738],"end_effector_yaw_offset_degrees":0.5204643178778252},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00010791417360091291,-0.0005146078276002859,0.0014043789315006496],"end_effector_yaw_offset_degrees":0.6058913840419067}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004119654187905359,-0.004098633303767735],"position_m":[0.3241196541879054,0.3490013666962323,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004960014513268187,-0.003570562655437549],"position_m":[0.1750399854867318,-0.03717056265543755,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002429476165474409,0.0017117146143447353],"position_m":[0.2744294761654744,-0.3655882853856553,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0011453036890023685,-0.0023544121933491767],"position_m":[0.33964530368900236,0.10614558780665083,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"aaa0229d3f463b559583176c902601bfc4db79ebb2c265c4037087d42dfd6fab","episode_index":40,"episode_name":"episode_0040"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0040.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_4206/tex_ceiling_textures_4801/tex_floor_textures_3792/tex_table_textures_8969/tex_wall_textures_9792","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":502458259733679635,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":502458259733679635,"visual_seed":502458259733679635,"scene_id":"lab_003","finished_at":"2026-09-06T15:12:31"} +{"episode_id":"ep_000041","started_at":"2026-09-06T15:12:36","dimensions":{"distractor":{"count":25,"items":[{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_0","position":[0.02535707746077942,1.1762269314748335,0.71338606911949],"aabb_xy":[[0.0028570772172640257,1.1640222968150618],[0.047857077704294815,1.1884315661346057]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.6147585839888121,-1.4755766015268486,0.71338606911949],"aabb_xy":[[0.5507585868767064,-1.5246089713212594],[0.6787585811009178,-1.4265442317324382]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_2","position":[0.5199315457677638,1.476298924466057,0.71338606911949],"aabb_xy":[[0.5081633589731063,1.3912989245608356],[0.5316997325624213,1.561298924371279]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_3","position":[0.6725588321891314,-2.461566801245066,0.71338606911949],"aabb_xy":[[0.6645154722631761,-2.5465668023404326],[0.6806021921150864,-2.3765668001497]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_4","position":[-0.3799717093052943,-1.2822605877179536,0.71338606911949],"aabb_xy":[[-0.4149717075754141,-1.2893347154129418],[-0.34497171103517427,-1.2751864600229654]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_5","position":[-0.19820662649168846,-2.04462807537456,0.71338606911949],"aabb_xy":[[-0.2882066232272987,-2.0978115386918543],[-0.10820662975607825,-1.9914446120572653]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_6","position":[0.6390298959337919,-1.313454568568753,0.71338606911949],"aabb_xy":[[0.6040298959572961,-1.3229191846163697],[0.6740298959102877,-1.3039899525211365]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[-0.37798379984652686,-1.1473212324535247,0.71338606911949],"aabb_xy":[[-0.4419838015245242,-1.1958386239328387],[-0.3139837981685295,-1.0988038409742102]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_8","position":[-0.059869500325716474,0.5636207307595549,0.71338606911949],"aabb_xy":[[-0.10699887932755214,0.4996207297151528],[-0.012740121323880797,0.6276207318039567]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_9","position":[0.09411416970185438,1.4911466994418592,0.71338606911949],"aabb_xy":[[0.08648990161167613,1.4835134759053155],[0.10173843779203263,1.498779922978403]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_10","position":[-0.4106957034667845,-0.9211170206325037,0.71338606911949],"aabb_xy":[[-0.4359165403266241,-0.9463407714853903],[-0.38547486660694474,-0.8958932697796168]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_11","position":[0.06489921874292548,1.734731860743517,0.71338606911949],"aabb_xy":[[0.058862205742260754,1.728705159674569],[0.0709362317435902,1.7407585618124652]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_12","position":[0.4365172772690882,-1.9853369096726925,0.71338606911949],"aabb_xy":[[0.3996667293321005,-2.0228369104957262],[0.47336782520607573,-1.9478369088496588]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.028613554914330264,1.4873565634941763,0.71338606911949],"aabb_xy":[[-0.07859097177958384,1.4373565620049278],[0.021363861950923324,1.5373565649834249]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_14","position":[0.40235695868486454,-0.2774984428823206,0.71338606911949],"aabb_xy":[[0.3822985470716242,-0.29756352979147815],[0.4224153702981048,-0.2574333559731631]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.24066058739789659,0.44266144658482487,0.71338606911949],"aabb_xy":[[-0.31066059078945857,0.407345672881394],[-0.17066058400633463,0.47797722028825573]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_16","position":[-0.010193361823646607,-1.743904253867024,0.71338606911949],"aabb_xy":[[-0.015651307460666675,-1.8239042571746829],[-0.00473541618662654,-1.6639042505593646]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[-0.5585013625911948,-0.08522051327714175,0.71338606911949],"aabb_xy":[[-0.5634006548977583,-0.11289743257971051],[-0.5536020702846313,-0.05754359397457297]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_18","position":[0.46436346533060924,-0.8595092503082369,0.71338606911949],"aabb_xy":[[0.39936346744896145,-0.910632914014778],[0.529363463212257,-0.8083855866016962]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[0.48272833227241696,-0.020064216997062623,0.71338606911949],"aabb_xy":[[0.44772833237639814,-0.028438452509002565],[0.5177283321684358,-0.011689981485122682]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_20","position":[-0.4103574186736736,0.9898318044133902,0.71338606911949],"aabb_xy":[[-0.4183836893042996,0.9810803094360376],[-0.4023311480430476,0.9985832993907429]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_21","position":[-0.4709723427357351,-0.08411663307441142,0.71338606911949],"aabb_xy":[[-0.47918688785141905,-0.09279322337205267],[-0.4627577976200511,-0.0754400427767701]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[0.40294121276464945,0.944055015857356,0.71338606911949],"aabb_xy":[[0.395528757223261,0.938203805435728],[0.4103536683060379,0.9499062262789839]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_23","position":[-0.3643556308438091,-0.7991029564010903,0.71338606911949],"aabb_xy":[[-0.3775068768150985,-0.824102956157777],[-0.3512043848725197,-0.7741029566444039]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[0.3782236963119612,-1.2942607964773511,0.71338606911949],"aabb_xy":[[0.36944246916472506,-1.3030405437658814],[0.38700492345919757,-1.285481049188821]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007120366039389,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5081.png","name":"5081"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7975.png","name":"7975"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1496.png","name":"1496"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5418.png","name":"5418"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7533.png","name":"7533"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":555.7523016828925,"rotation_z_degrees":190.39928577379322,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014234993408687183,-0.007527541467270065,-0.01710054201081353]},{"name":"camera_2","offset_m":[-0.01636369330426933,0.01924808286561282,0.012236566501984476]},{"name":"camera_3","offset_m":[-0.0006290091789412505,-0.008490004948684375,-0.0028563269267544295]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005501116708454528,-0.0008274929802884574,-0.001333873192775935],"end_effector_yaw_offset_degrees":0.24031327201460795},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0019946252361072963,0.0002302888341498546,-0.001686568112383501],"end_effector_yaw_offset_degrees":-0.39565049754491244},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00017613861356097975,0.0012601653248354287,0.00047824706131466754],"end_effector_yaw_offset_degrees":0.36239850404822915},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0001011239529718805,0.001189505311294086,-0.001354402607181757],"end_effector_yaw_offset_degrees":0.4435032368185037},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011129959062854606,-0.00024745267147734356,-0.001054378595690257],"end_effector_yaw_offset_degrees":-0.3550798974558722},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0018213268714460007,0.00021009863116915961,-0.0002489172514654463],"end_effector_yaw_offset_degrees":0.7835023467807558}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0024598540119534877,0.003136785652377954],"position_m":[0.3224598540119535,0.356236785652378,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0015466228762932759,0.0009722273358667866],"position_m":[0.18154662287629328,-0.03262777266413321,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00202605898511413,0.0005923036300810912],"position_m":[0.2740260589851142,-0.3667076963699189,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002378285322018021,-0.003649358100904754],"position_m":[0.336121714677982,0.10485064189909525,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"45c6d8dcd17bed66b2049661ea0f20ce879bbc361ac8d8102f69b7d035492da8","episode_index":41,"episode_name":"episode_0041"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0041.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_5081/tex_ceiling_textures_7533/tex_floor_textures_5418/tex_table_textures_7975/tex_wall_textures_1496","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6429907582656723398,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6429907582656723398,"visual_seed":6429907582656723398,"scene_id":"lab_003","finished_at":"2026-09-06T15:18:52"} +{"episode_id":"ep_000042","started_at":"2026-09-06T15:18:58","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_0","position":[-0.4199938136251345,-0.08961164757135842,0.71338606911949],"aabb_xy":[[-0.4899938100350962,-0.1100495832230401],[-0.3499938172151726,-0.06917371191967665]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_1","position":[-0.4597191485206106,-0.2594624554064944,0.71338606911949],"aabb_xy":[[-0.5297191519121724,-0.29477822910992524],[-0.38971914512904854,-0.22414668170306354]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_2","position":[-0.008676872943126357,0.830299938895219,0.71338606911949],"aabb_xy":[[-0.024232642353391627,0.8147495056508121],[0.00687889646713891,0.8458503721396264]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_3","position":[0.5976519904806405,0.35651386165804233,0.71338606911949],"aabb_xy":[[0.5932213611258004,0.3510654899233598],[0.6020826198354807,0.361962233392725]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_4","position":[0.31278550986331455,1.7934787476094116,0.71338606911949],"aabb_xy":[[0.2757514004352548,1.7591015402757022],[0.3498196192913743,1.827855954943121]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_5","position":[-0.005910617535768603,-1.7509920293882315,0.71338606911949],"aabb_xy":[[-0.017272352189054763,-1.7623604957945196],[0.005451117117517558,-1.7396235629819434]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_6","position":[-0.37585906328484525,-0.628328289519049,0.71338606911949],"aabb_xy":[[-0.46585906561886425,-0.7058106441041616],[-0.28585906095082614,-0.5508459349339363]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_7","position":[-0.0845219294017604,-0.7031486085893608,0.71338606911949],"aabb_xy":[[-0.09467494495590975,-0.739218150162101],[-0.074368913847611,-0.6670790670166203]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_8","position":[0.42524610098802107,-1.8598248316422326,0.71338606911949],"aabb_xy":[[0.4156144647675915,-1.8694621444219413],[0.43487773720845074,-1.8501875188625234]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_9","position":[-0.08082186372550604,-1.9177630922886637,0.71338606911949],"aabb_xy":[[-0.08713396326184449,-1.9235300315418826],[-0.07450976418916762,-1.9119961530354448]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_10","position":[-0.08633377789687746,1.1709050856464782,0.71338606911949],"aabb_xy":[[-0.12383377908167024,1.1664868629504173],[-0.04883377671208466,1.1753233083425383]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_11","position":[0.07603513203235357,1.208670975862376,0.71338606911949],"aabb_xy":[[0.058933054073985414,1.1915641703311062],[0.09313720999072173,1.2257777813936457]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_12","position":[0.12695025838770901,-1.0428428169064834,0.71338606911949],"aabb_xy":[[0.0769502570268218,-1.092820721481899],[0.17695025974859624,-0.9928649123310679]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_13","position":[0.5162672785641236,-0.14951277170155386,0.71338606911949],"aabb_xy":[[0.47876727845853057,-0.15633493355453498],[0.5537672786697164,-0.14269060984857274]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_14","position":[-0.6747064940581656,1.3804635446383742,0.71338606911949],"aabb_xy":[[-0.6893498996121986,1.3658048249815897],[-0.6600630885041326,1.3951222642951582]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_15","position":[-0.0017259166126614156,-0.8527012451418192,0.71338606911949],"aabb_xy":[[-0.06672591449430922,-0.9038249088483602],[0.06327408126898638,-0.8015775814352785]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.6718012505162263,-1.3124848842096897,0.71338606911949],"aabb_xy":[[-0.6790624980866339,-1.325271894473199],[-0.6645400029458189,-1.29969787394618]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_17","position":[0.5579895205269476,-1.6518091751979993,0.71338606911949],"aabb_xy":[[0.543655095400784,-1.6638693907525384],[0.572323945653111,-1.6397489596434607]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_18","position":[0.3872774774642542,-2.368101646425162,0.71338606911949],"aabb_xy":[[0.3450930633034235,-2.4321016467023733],[0.42946189162508497,-2.304101646147951]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[0.5038284403257973,1.094021815039965,0.71338606911949],"aabb_xy":[[0.43882843768800384,1.042542216340518],[0.5688284429635908,1.145501413739412]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_20","position":[-0.08669135877317757,-0.4344912793878275,0.71338606911949],"aabb_xy":[[-0.09547258592041384,-0.44327102667635776],[-0.07791013162594138,-0.42571153209929746]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_21","position":[-0.07896134021071921,0.6264995890958716,0.71338606911949],"aabb_xy":[[-0.14396134121121973,0.5757132239411965],[-0.013961339210218693,0.6772859542505464]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[-0.34043714939528236,-2.146453272960378,0.71338606911949],"aabb_xy":[[-0.4004371499031352,-2.2033000066462987],[-0.2804371488874294,-2.0896065392744565]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[-0.6183038168765057,-2.2425617625567735,0.71338606911949],"aabb_xy":[[-0.6732960675120166,-2.2975617643000867],[-0.5633115662409948,-2.187561760813461]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_24","position":[0.6463933602275072,-1.5284748197118938,0.71338606911949],"aabb_xy":[[0.6426900988983681,-1.5321768380206116],[0.6500966215566459,-1.5247728014031756]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_25","position":[-0.6617973670279846,1.286728861117846,0.71338606911949],"aabb_xy":[[-0.679297367273034,1.2692290732782792],[-0.6442973667829353,1.3042286489574129]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_26","position":[0.0804563402362144,-1.385883361868744,0.71338606911949],"aabb_xy":[[0.00045633976599845927,-1.3941940694830925],[0.16045634070643036,-1.377572654254396]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.32736617473810986,0.282741822172047,0.71338606911949],"aabb_xy":[[-0.3598278756200372,0.2526089900571443],[-0.2949044738561823,0.3128746542869496]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_28","position":[-0.349880549971953,0.771723483527488,0.71338606911949],"aabb_xy":[[-0.4048805481736978,0.7312015169010505],[-0.2948805517702081,0.8122454501539257]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_29","position":[-0.1993003904855713,-1.7717158584499173,0.71338606911949],"aabb_xy":[[-0.20533740348623605,-1.7777425595188658],[-0.1932633774849066,-1.7656891573809697]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_30","position":[-0.5092593219899665,-1.0785224445881698,0.71338606911949],"aabb_xy":[[-0.5892593193935598,-1.1585150157863526],[-0.429259324586373,-0.9985298733899871]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_31","position":[0.3742887574325917,0.8373610294883576,0.71338606911949],"aabb_xy":[[0.36616106923927844,0.8284474210776499],[0.3824164456259049,0.8462746378990652]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7029901108245619,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7241.png","name":"7241"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7241.png","name":"7241"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3883.png","name":"3883"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2017.png","name":"2017"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4128.png","name":"4128"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6608.png","name":"6608"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":838.5478334356538,"rotation_z_degrees":120.13302417479265,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010619043605288564,-0.001973873781719364,0.013119071936206764]},{"name":"camera_2","offset_m":[-0.00013401296252325834,0.007017138410710812,0.007577299547820684]},{"name":"camera_3","offset_m":[0.004686107878798525,0.011225285552549157,-0.01274685837484148]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0012800763018838666,0.0007584644722364573,-0.0011500215807538285],"end_effector_yaw_offset_degrees":-0.11475435049834015},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.000664534264858943,0.0018663965799256147,-0.0014447795942395913],"end_effector_yaw_offset_degrees":0.980301515070694},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003954631063763942,-0.000523757237784328,0.0009686016300000972],"end_effector_yaw_offset_degrees":0.8622357910678478},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0010086570254247127,0.000412860538985366,1.261560336953283e-06],"end_effector_yaw_offset_degrees":-0.3903552523185523},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00018778932121087436,-0.0018516587192935958,-0.0017646055679818797],"end_effector_yaw_offset_degrees":0.3670339335035384},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008536539441970268,-0.0019079710348497369,-0.0013369951164398568],"end_effector_yaw_offset_degrees":0.48431974863779015}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018696273133712049,0.004888342586763228],"position_m":[0.3181303726866288,0.35798834258676326,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00255460164872785,0.0019499032554323613],"position_m":[0.17744539835127215,-0.03165009674456764,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0031360714511955374,-0.0019498402803373584],"position_m":[0.27513607145119556,-0.36924984028033736,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00016564642524612844,0.0015591680046396373],"position_m":[0.3383343535747539,0.11005916800463963,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1e0095857bd1035489be9dfcc143ec28d545faac04ac78a17437f9699ddd0473","episode_index":42,"episode_name":"episode_0042"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0042.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7241/tex_ceiling_textures_6608/tex_floor_textures_4128/tex_table_textures_3883/tex_wall_textures_2017","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7511647115949163361,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7511647115949163361,"visual_seed":7511647115949163361,"scene_id":"lab_003","finished_at":"2026-09-06T15:25:20"} +{"episode_id":"ep_000043","started_at":"2026-09-06T15:25:26","dimensions":{"distractor":{"count":24,"items":[{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_0","position":[-0.2412936446410361,0.44758154931605176,0.71338606911949],"aabb_xy":[[-0.2787936445848025,0.4392884592812151],[-0.20379364469726965,0.4558746393508883]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_1","position":[0.13646244288181886,1.456741238099554,0.71338606911949],"aabb_xy":[[0.0912911250336499,1.3927412409550157],[0.18163376072998785,1.5207412352440928]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_2","position":[0.19469060545220906,-0.8629796332153661,0.71338606911949],"aabb_xy":[[0.10469060603383815,-0.8963551300595557],[0.28469060487057996,-0.8296041363711762]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_3","position":[0.1971408232448808,0.6963748255504005,0.71338606911949],"aabb_xy":[[0.14714581228542875,0.6463748265148089],[0.24713583420433283,0.7463748245859924]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_4","position":[0.6708687980133938,-0.5111062155114223,0.71338606911949],"aabb_xy":[[0.6645566984770556,-0.5168731547646411],[0.6771808975497323,-0.5053392762582035]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[0.5370771163281047,-0.9404765054807027,0.71338606911949],"aabb_xy":[[0.5151873687391639,-1.0304765027699516],[0.5589668639170455,-0.8504765081914536]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_6","position":[0.678561485213347,0.1946982155373811,0.71338606911949],"aabb_xy":[[0.6615513879232963,0.17856372703910714],[0.6955715825033976,0.210832704035655]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_7","position":[-0.2604846912285741,-2.2162150548799144,0.71338606911949],"aabb_xy":[[-0.340484691502181,-2.2891646027056307],[-0.18048469095496708,-2.1432655070541973]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_8","position":[0.30683123647885724,-1.3948512287573904,0.71338606911949],"aabb_xy":[[0.2899205040425154,-1.4083234343500048],[0.32374196891519896,-1.3813790231647756]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.08518739652668406,0.4995411663487235,0.71338606911949],"aabb_xy":[[-0.09244864409709147,0.48675415608521405],[-0.07792614895627664,0.512328176612233]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_10","position":[-0.07355605504794238,-1.9885624322259483,0.71338606911949],"aabb_xy":[[-0.12355605462427711,-2.0385430111780547],[-0.023556055471607676,-1.9385818532738428]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.45622985857438464,0.24051491690319038,0.71338606911949],"aabb_xy":[[-0.47869462854578976,0.21801491602432987],[-0.4337650886029795,0.2630149177820509]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_12","position":[0.2181756231441525,-0.597936671104889,0.71338606911949],"aabb_xy":[[0.13817562516336745,-0.6055382120667409],[0.29817562112493756,-0.590335130143037]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_13","position":[-0.4523818352817438,-0.33926308745905587,0.71338606911949],"aabb_xy":[[-0.4604954899551209,-0.34736890391308495],[-0.4442681806083667,-0.3311572710050268]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_14","position":[-0.4688049521225062,-0.8564032839828786,0.71338606911949],"aabb_xy":[[-0.5063049536381379,-0.8676300569990235],[-0.43130495060687457,-0.8451765109667334]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_15","position":[0.36913259349216876,-1.731612684855379,0.71338606911949],"aabb_xy":[[0.2891325930219529,-1.739923392469728],[0.4491325939623848,-1.723301977241031]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.36016770802561804,1.6883827179643416,0.71338606911949],"aabb_xy":[[0.3557370786707779,1.682934346229659],[0.36459833738045827,1.693831089699024]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_17","position":[0.026795031783315548,1.2749192096304087,0.71338606911949],"aabb_xy":[[0.02271687387626581,1.2708382293821454],[0.030873189690365288,1.279000189878672]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_18","position":[-0.6090468778237779,0.32047110749529306,0.71338606911949],"aabb_xy":[[-0.631546877833926,0.3063748878556898],[-0.5865468778136295,0.33456732713489634]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_19","position":[0.41924290060261726,1.2466608491936841,0.71338606911949],"aabb_xy":[[0.3392429034430419,1.2351132482358669],[0.4992428977621925,1.258208450151501]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_20","position":[-0.35293995771843023,-1.6447358062736386,0.71338606911949],"aabb_xy":[[-0.37048665263454916,-1.6822358078378898],[-0.3353932628023113,-1.6072358047093873]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_21","position":[0.4916970278030697,1.4725897104097574,0.71338606911949],"aabb_xy":[[0.45039248473933363,1.4085897108416403],[0.5330015708668057,1.5365897099778745]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_22","position":[-0.14174457370556925,1.3613871777808146,0.71338606911949],"aabb_xy":[[-0.17924457387744117,1.3286864423979072],[-0.10424457353369729,1.3940879131637216]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_23","position":[0.2806950475222154,-1.0741132268913967,0.71338606911949],"aabb_xy":[[0.2007012239436572,-1.1541132294842382],[0.36068887110077363,-0.9941132242985551]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7038294079843999,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3562.png","name":"3562"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8971.png","name":"8971"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5826.png","name":"5826"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9015.png","name":"9015"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9548.png","name":"9548"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":752.5432689967531,"rotation_z_degrees":247.95236152838996,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[3.623997215064512e-05,-0.0011558413398044184,-0.005118036233016104]},{"name":"camera_2","offset_m":[-0.0029873575849824613,-0.0037094432427366604,0.010003401616738725]},{"name":"camera_3","offset_m":[-0.019495847455834298,-0.01787779273290337,0.016797075249545188]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0017992789178480533,-0.0014867558100458444,-0.0005826650230756657],"end_effector_yaw_offset_degrees":0.049940194640128555},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014949424322823891,-0.000812492875355579,-3.034986360545694e-05],"end_effector_yaw_offset_degrees":-0.16954874615081006},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009024193962171032,0.0017234074278039868,-0.00032242362835158416],"end_effector_yaw_offset_degrees":-0.6947482613006724},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0005017488438194854,0.0003343950267308488,-0.0015669437348024458],"end_effector_yaw_offset_degrees":-0.0918500682633927},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00019536948851563065,0.0006178845141196782,0.00015610934021944483],"end_effector_yaw_offset_degrees":-0.3897459317937584},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015020432254915644,0.0018198742391574703,-0.0017979584700791845],"end_effector_yaw_offset_degrees":0.09141529018296257}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0027406344004405917,-0.002718497994468644],"position_m":[0.3227406344004406,0.35038150200553136,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004294473372406806,0.0037005028673785046],"position_m":[0.1842944733724068,-0.029899497132621494,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004210950199607189,-0.0018057368506160434],"position_m":[0.27621095019960723,-0.36910573685061604,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004609358928012705,0.003736311201707071],"position_m":[0.34310935892801275,0.11223631120170707,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3e0f5d0763b525518077a9ad9ad7f0142343593b05542de0ea46e3257dd7c9b2","episode_index":43,"episode_name":"episode_0043"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0043.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3562/tex_ceiling_textures_9548/tex_floor_textures_9015/tex_table_textures_8971/tex_wall_textures_5826","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2402012817301065352,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2402012817301065352,"visual_seed":2402012817301065352,"scene_id":"lab_003","finished_at":"2026-09-06T15:31:41"} +{"episode_id":"ep_000044","started_at":"2026-09-06T15:31:47","dimensions":{"distractor":{"count":33,"items":[{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_0","position":[-0.23523478399434783,0.4635749414342891,0.71338606911949],"aabb_xy":[[-0.2902279953314846,0.40857494109549564],[-0.18024157265721108,0.5185749417730828]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_1","position":[0.4977753165269687,0.028377772200839146,0.71338606911949],"aabb_xy":[[0.43377531941486297,-0.020654597593571467],[0.5617753136390744,0.07741014199524976]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_2","position":[-0.21473277230345472,1.056213558388797,0.71338606911949],"aabb_xy":[[-0.2200703479694593,1.031213557459657],[-0.20939519663745015,1.0812135593179366]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_3","position":[0.443120643350178,1.1883217327387623,0.71338606911949],"aabb_xy":[[0.37912064405600976,1.1243355923699083],[0.5071206426443462,1.2523078731076167]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_4","position":[0.16932797083075468,1.7547864111205969,0.71338606911949],"aabb_xy":[[0.1577589900838181,1.7297864110036654],[0.18089695157769126,1.7797864112375288]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_5","position":[0.19514964455710215,-1.3697532808878135,0.71338606911949],"aabb_xy":[[0.1539008335271874,-1.4247532804000307],[0.23639845558701686,-1.3147532813755958]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_6","position":[-0.5982650299672307,1.4240866960007899,0.71338606911949],"aabb_xy":[[-0.6533902355968215,1.3640866945595023],[-0.54313982433764,1.4840866974420766]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_7","position":[0.6443195322588133,0.6020627127981659,0.71338606911949],"aabb_xy":[[0.5943407237484973,0.5520627127924471],[0.6942983407691291,0.6520627128038847]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_8","position":[-0.6355668850261205,-0.08381621719045995,0.71338606911949],"aabb_xy":[[-0.6434901652648689,-0.10631621742846331],[-0.6276436047873722,-0.06131621695245659]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_9","position":[-0.38300387653266865,-0.3628514707208579,0.71338606911949],"aabb_xy":[[-0.4308100441464373,-0.4278514734279168],[-0.33519770891890005,-0.2978514680137989]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_10","position":[0.4241833253845513,-2.239253765716383,0.71338606911949],"aabb_xy":[[0.37418332502398516,-2.2892337529259854],[0.4741833257451173,-2.1892737785067795]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_11","position":[-0.487100895539265,0.8113556378092324,0.71338606911949],"aabb_xy":[[-0.5046008957843143,0.7938558499696655],[-0.46960089529421556,0.8288554256487992]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_12","position":[0.36188409669078303,-2.0479138971076036,0.71338606911949],"aabb_xy":[[0.3119066798255294,-2.097913898596852],[0.41186151355603656,-1.9979138956183553]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_13","position":[-0.39270818188416357,1.1106179919056545,0.71338606911949],"aabb_xy":[[-0.45670818517387163,1.0672830729017369],[-0.3287081785944554,1.153952910909572]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_14","position":[-0.0715790613201509,-1.5675169238855795,0.71338606911949],"aabb_xy":[[-0.10157072405402122,-1.5975169232223798],[-0.04158739858628056,-1.5375169245487788]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_15","position":[-0.10069007581447731,0.05063640372016165,0.71338606911949],"aabb_xy":[[-0.1606900766752901,-0.0007900262863247408],[-0.040690074953664494,0.10206283372664803]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_16","position":[-0.5389844575943357,-0.7188001876041692,0.71338606911949],"aabb_xy":[[-0.588957751597596,-0.7688001881587165],[-0.4890111635910751,-0.6688001870496219]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.2625077027079469,-1.8394545226695704,0.71338606911949],"aabb_xy":[[0.2548045120338698,-1.847163893368308],[0.27021089338202386,-1.8317451519708323]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_18","position":[0.2513455342025749,-2.50358245190199,0.71338606911949],"aabb_xy":[[0.19134553395117365,-2.5578637769384542],[0.311345534453976,-2.4493011268655254]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_19","position":[0.4986780127131287,1.4863574616296549,0.71338606911949],"aabb_xy":[[0.487905038791761,1.4513574634106159],[0.5094509866344965,1.5213574598486939]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[0.6551403754534837,-2.053476322553129,0.71338606911949],"aabb_xy":[[0.625172818543658,-2.0834763228510145],[0.6851079323633094,-2.0234763222552434]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_21","position":[-0.6439686497723054,0.6243119360772669,0.71338606911949],"aabb_xy":[[-0.6571198957435948,0.5993119363205804],[-0.630817403801016,0.6493119358339535]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_22","position":[-0.04167619993060745,-1.8397187299773627,0.71338606911949],"aabb_xy":[[-0.06667619909624056,-1.8466709756827195],[-0.016676200764974336,-1.8327664842720064]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_23","position":[0.6447035974387816,-0.882482032426104,0.71338606911949],"aabb_xy":[[0.6329354106441241,-0.9674820323313258],[0.6564717842334391,-0.7974820325208827]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_24","position":[-0.2867783821035633,-2.218164601196332,0.71338606911949],"aabb_xy":[[-0.3507783828070327,-2.264182983669253],[-0.22277838140009404,-2.172146218723411]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_25","position":[-0.4153069571768254,0.3284062908284011,0.71338606911949],"aabb_xy":[[-0.49530695515761053,0.32080474986654917],[-0.3353069591960404,0.33600783179025306]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[-0.36126678695387143,-1.871148355765466,0.71338606911949],"aabb_xy":[[-0.42126678754988756,-1.9259608283106895],[-0.3012667863578552,-1.8163358832202425]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_27","position":[0.37798727931485754,1.394200881238639,0.71338606911949],"aabb_xy":[[0.36987362464148044,1.38609506478461],[0.38610093398823464,1.4023066976926681]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_28","position":[0.6732441644180998,1.576667605608074,0.71338606911949],"aabb_xy":[[0.6359128878928573,1.5420145508132217],[0.7105754409433425,1.6113206604029262]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_29","position":[0.5399044734951017,-1.1727206772681136,0.71338606911949],"aabb_xy":[[0.497720059334271,-1.2367206775453246],[0.5820888876559325,-1.1087206769909022]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[0.011762900464430959,1.0772110943347464,0.71338606911949],"aabb_xy":[[-0.025271208963628757,1.0428338870010367],[0.048797009892490674,1.1115883016684556]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_31","position":[-0.6215449310329783,1.6187073501823641,0.71338606911949],"aabb_xy":[[-0.6765449302095676,1.5637176754074065],[-0.5665449318563887,1.6736970249573218]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_32","position":[-0.48770436651083315,-0.3148369293501041,0.71338606911949],"aabb_xy":[[-0.49855597275970875,-0.32569622007775506],[-0.47685276026195755,-0.30397763862245303]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977003945156178,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8587.png","name":"8587"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8587.png","name":"8587"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8877.png","name":"8877"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3510.png","name":"3510"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2158.png","name":"2158"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8110.png","name":"8110"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":760.6258220800928,"rotation_z_degrees":220.3629617417546,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01709690486715703,0.014100369113802271,0.01952179730781609]},{"name":"camera_2","offset_m":[0.018547887821151184,0.011433894462865347,0.01551038337745857]},{"name":"camera_3","offset_m":[-0.0005594904483178127,0.010416791076189789,-0.007674279188744412]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015317093766641127,0.0010170622442573873,-0.0007624471822335393],"end_effector_yaw_offset_degrees":0.6087387500877433},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-3.072062636022945e-05,-0.0007513070228442841,0.0017687767860417032],"end_effector_yaw_offset_degrees":0.9071568689648151},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001639274280075756,0.0018832210061393638,0.0008762246690661823],"end_effector_yaw_offset_degrees":-0.33446395853393485},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0004162620459517408,0.0007406861939748383,0.000489437538139399],"end_effector_yaw_offset_degrees":-0.29508468445311364},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017320082546870286,-0.001138929924807483,-9.554303340948873e-06],"end_effector_yaw_offset_degrees":-0.10831625473839246},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0003066504456103506,-0.00010875931251195679,-0.0011360504019832232],"end_effector_yaw_offset_degrees":-0.3194582349010884}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.001350872617590042,0.0006320091612502868],"position_m":[0.32135087261759004,0.3537320091612503,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002524595570882251,-0.0014547014741270558],"position_m":[0.17747540442911774,-0.03505470147412705,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0008747662448373552,0.0016242847953775808],"position_m":[0.2711252337551627,-0.36567571520462244,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0013197370477890883,-0.004487844112291559],"position_m":[0.3398197370477891,0.10401215588770844,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"381feabb9538a725aa09fbecf7f5ad0d757c7bf37621a9597b0e64ad3dcf3b33","episode_index":44,"episode_name":"episode_0044"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0044.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8587/tex_ceiling_textures_8110/tex_floor_textures_2158/tex_table_textures_8877/tex_wall_textures_3510","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5807250820862026727,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5807250820862026727,"visual_seed":5807250820862026727,"scene_id":"lab_003","finished_at":"2026-09-06T15:38:04"} +{"episode_id":"ep_000045","started_at":"2026-09-06T15:38:11","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.3343479241009528,-2.2397581803138786,0.71338606911949],"aabb_xy":[[0.3130699159574805,-2.3047581826399517],[0.355625932244425,-2.1747581779878056]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_1","position":[0.26404305212251966,-1.398299063593353,0.71338606911949],"aabb_xy":[[0.20004305044452225,-1.446816455072667],[0.32804305380051696,-1.3497816721140385]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_2","position":[0.4695138959821159,-0.7148805325293137,0.71338606911949],"aabb_xy":[[0.4326633480451283,-0.7523805333523474],[0.5063644439191035,-0.67738053170628]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_3","position":[-0.5811520451148883,-1.1695843886421038,0.71338606911949],"aabb_xy":[[-0.6362772507444789,-1.229584390083391],[-0.5260268394852974,-1.1095843872008166]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_4","position":[-0.21057046546109354,-1.7091860075718448,0.71338606911949],"aabb_xy":[[-0.280570467269839,-1.7305397763360322],[-0.1405704636523481,-1.6878322388076574]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_5","position":[-0.5665690854166737,1.8130000709120204,0.71338606911949],"aabb_xy":[[-0.5835791827067244,1.7968655824137463],[-0.5495589881266231,1.8291345594102941]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_6","position":[-0.17206457084356686,-1.4717423314155844,0.71338606911949],"aabb_xy":[[-0.17602505461330123,-1.4794101960011052],[-0.16810408707383248,-1.464074466830064]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_7","position":[0.6764607798816817,-0.5201862881928578,0.71338606911949],"aabb_xy":[[0.6589607796366324,-0.5376860760324246],[0.6939607801267311,-0.5026865003532909]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_8","position":[0.2580032996525887,-0.9105550340759321,0.71338606911949],"aabb_xy":[[0.24283113037095538,-0.9257238910041355],[0.27317546893422207,-0.8953861771477288]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_9","position":[-0.6427003173463848,-2.455128215610815,0.71338606911949],"aabb_xy":[[-0.6480328320009978,-2.460452543856051],[-0.6373678026917717,-2.4498038873655794]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_10","position":[-0.040748439069206666,-0.3821291918979819,0.71338606911949],"aabb_xy":[[-0.05963282283771687,-0.40101511667833467],[-0.02186405530069646,-0.3632432671176291]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_11","position":[-0.005192246135977574,0.9450826631745834,0.71338606911949],"aabb_xy":[[-0.055187079063919176,0.8950826642793398],[0.04480258679196403,0.9950826620698269]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[0.25030798476931726,-1.1743308946966693,0.71338606911949],"aabb_xy":[[0.2025018171555486,-1.2393308974037283],[0.2981141523830859,-1.1093308919896103]]},{"name":"lh_dropper_bottle_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m02_13","position":[-0.5500540638029872,-0.3031219810824486,0.71338606911949],"aabb_xy":[[-0.5763428881234277,-0.3293934147370998],[-0.5237652394825464,-0.27685054742779736]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_14","position":[0.2621151635010798,1.6566116505609805,0.71338606911949],"aabb_xy":[[0.20211516264026688,1.6051852205544939],[0.32211516436189247,1.7080380805674666]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_15","position":[0.29513573433417106,-0.5644796822885283,0.71338606911949],"aabb_xy":[[0.2849827187800216,-0.6005492238612685],[0.3052887498883204,-0.5284101407157878]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_16","position":[0.4756925914507042,-1.9552296396586089,0.71338606911949],"aabb_xy":[[0.4256975804912522,-2.005229638694201],[0.5256876024101562,-1.9052296406230176]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[-0.4990734134502667,-0.7734639555576437,0.71338606911949],"aabb_xy":[[-0.527403123398807,-0.7779246977513609],[-0.4707437035017265,-0.7690032133639267]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.29358642941714996,-1.8662913158479049,0.71338606911949],"aabb_xy":[[0.22958642800915932,-1.9180802673718296],[0.35758643082514063,-1.8145023643239802]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[0.32375825683430715,-1.5758650368804321,0.71338606911949],"aabb_xy":[[0.2597582565738363,-1.62087383623336],[0.3877582570947779,-1.5308562375275039]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_20","position":[0.12310779138943018,1.0970327021029376,0.71338606911949],"aabb_xy":[[0.07313449738616971,1.04703270154839],[0.17308108539269063,1.1470327026574847]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_21","position":[-0.5753088088793867,1.4692863551655555,0.71338606911949],"aabb_xy":[[-0.5929844394679848,1.4516061388861525],[-0.5576331782907882,1.486966571444958]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_22","position":[-0.4660221975550172,0.7150781777778521,0.71338606911949],"aabb_xy":[[-0.47343465309640576,0.7092269673562241],[-0.4586097420136288,0.72092938819948]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_23","position":[0.31224174397103055,1.4148115840256597,0.71338606911949],"aabb_xy":[[0.2897417444473231,1.3923156365750389],[0.3347417434947379,1.4373075314762804]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_24","position":[0.16849285119871982,1.2979331983261533,0.71338606911949],"aabb_xy":[[0.07849285147554559,1.274859845790973],[0.2584928509218939,1.3210065508613327]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_25","position":[-0.016680475252974336,-0.8612736057141916,0.71338606911949],"aabb_xy":[[-0.0664972547178091,-0.911273604198495],[0.03313630421186042,-0.8112736072298883]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[0.03945960319108399,-1.1169998910877972,0.71338606911949],"aabb_xy":[[0.02758752017958288,-1.2019998907814478],[0.0513316862025851,-1.031999891394147]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_27","position":[0.3690620378893168,0.6139609263821906,0.71338606911949],"aabb_xy":[[0.36181827184307147,0.5339609281785883],[0.3763058039355621,0.6939609245857931]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_28","position":[0.13747578979815034,-1.701829411024063,0.71338606911949],"aabb_xy":[[0.124029263164107,-1.715299262677154],[0.15092231643219367,-1.6883595593709717]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_29","position":[-0.6650667655895552,1.3116565556357465,0.71338606911949],"aabb_xy":[[-0.6950584283234257,1.281656556298946],[-0.635075102855685,1.341656554972547]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[-0.09709095330790074,1.2741671023146024,0.71338606911949],"aabb_xy":[[-0.14697365018559694,1.2241671030683279],[-0.04720825643020454,1.3241671015608774]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010540849963574,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/707.png","name":"707"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/707.png","name":"707"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7042.png","name":"7042"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9147.png","name":"9147"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8925.png","name":"8925"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8083.png","name":"8083"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":521.6479837412777,"rotation_z_degrees":298.51108090991886,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01677048297825848,-0.011352473494631518,-0.004033741955664149]},{"name":"camera_2","offset_m":[0.008124472850960046,-0.016838591999189793,0.019190638629372935]},{"name":"camera_3","offset_m":[0.012131827142597872,0.009622233351825236,0.006779314551082018]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018330981730068979,0.0007588847424650851,0.0017711623240359632],"end_effector_yaw_offset_degrees":-0.8537752563549401},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0003412477399890902,0.0005603875535427883,-0.00029645414434231396],"end_effector_yaw_offset_degrees":0.13812615826807173},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011853228466185302,0.0006634782559202545,0.001316713609665308],"end_effector_yaw_offset_degrees":-0.9579287860396948},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00020927098999200125,-0.00019210555813732946,0.0015389743513548253],"end_effector_yaw_offset_degrees":-0.7807230695582119},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00043497597578320596,-0.0007155978504897048,-0.0019597064335467726],"end_effector_yaw_offset_degrees":-0.35929065889074074},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001300328087478107,-0.0012460258601716821,-0.0010516934548866173],"end_effector_yaw_offset_degrees":-0.5803172979978177}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004131928376317641,0.002978367506878043],"position_m":[0.32413192837631766,0.35607836750687805,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023592302882138472,-0.00252087414484901],"position_m":[0.18235923028821385,-0.036120874144849005,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0009325199250480084,-0.0018323019225846829],"position_m":[0.272932519925048,-0.36913230192258467,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0035170240181298133,-0.004951948095762506],"position_m":[0.34201702401812983,0.10354805190423749,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"55fc97e1476a4a07a0f311b4b09309485781db867dcbbe55cb11651cf6b00d9b","episode_index":45,"episode_name":"episode_0045"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0045.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_707/tex_ceiling_textures_8083/tex_floor_textures_8925/tex_table_textures_7042/tex_wall_textures_9147","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5545214345547975256,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5545214345547975256,"visual_seed":5545214345547975256,"scene_id":"lab_003","finished_at":"2026-09-06T15:44:43"} +{"episode_id":"ep_000046","started_at":"2026-09-06T15:44:49","dimensions":{"distractor":{"count":34,"items":[{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_0","position":[0.510985992285679,-1.206601709208681,0.71338606911949],"aabb_xy":[[0.5039456823521421,-1.2866017086083525],[0.5180263022192161,-1.1266017098090098]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_1","position":[-0.0013392077355356413,1.279082680151665,0.71338606911949],"aabb_xy":[[-0.05132215792301497,1.2290826805091042],[0.04864374245194369,1.329082679794225]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_2","position":[0.6126297460323977,-0.07045011237839649,0.71338606911949],"aabb_xy":[[0.5526297454363815,-0.12526258492361997],[0.6726297466284139,-0.01563763983317301]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_3","position":[-0.6296495228377906,-1.212499219730078,0.71338606911949],"aabb_xy":[[-0.667149521261191,-1.2256634336979086],[-0.5921495244143903,-1.1993350057622472]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_4","position":[0.2529743220831999,-0.688450563206497,0.71338606911949],"aabb_xy":[[0.18897862468810334,-0.7524505615072057],[0.3169700194782965,-0.6244505649057883]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_5","position":[0.49838184345805003,-1.0325446231082414,0.71338606911949],"aabb_xy":[[0.43438184140831804,-1.0726391061975495],[0.562381845507782,-0.9924501400189336]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_6","position":[0.3777158837884338,1.036792828157386,0.71338606911949],"aabb_xy":[[0.328235462574475,0.9727928302445341],[0.4271963050023926,1.1007928260702378]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_7","position":[-0.5425462014721542,0.6495305863408585,0.71338606911949],"aabb_xy":[[-0.5550135595818898,0.6370652617075352],[-0.5300788433624185,0.6619959109741822]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_8","position":[-0.6083877305981751,-2.4027668637081883,0.71338606911949],"aabb_xy":[[-0.688387731068391,-2.4110775713225365],[-0.5283877301279591,-2.39445615609384]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_9","position":[-0.5745295545759381,-2.124482681886955,0.71338606911949],"aabb_xy":[[-0.5825558252065641,-2.133234176864308],[-0.5665032839453121,-2.1157311869096027]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_10","position":[0.0025299803566298795,-2.201133879612891,0.71338606911949],"aabb_xy":[[-0.034504129071429836,-2.2355110869466004],[0.039564089784689595,-2.1667566722791816]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[-0.51719005910766,-0.4529854549015022,0.71338606911949],"aabb_xy":[[-0.5871900555176216,-0.4734233905531839],[-0.44719006269769807,-0.43254751924982043]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.666977689989891,1.5282003018035275,0.71338606911949],"aabb_xy":[[-0.6914913140868968,1.503935708501491],[-0.6424640658928851,1.552464895105564]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_13","position":[-0.03152644288750872,0.9254191297518117,0.71338606911949],"aabb_xy":[[-0.09552644314797952,0.8804103303988837],[0.032473557372962085,0.9704279291047397]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_14","position":[-0.3887533583167488,-1.3341394170016179,0.71338606911949],"aabb_xy":[[-0.3983849945371784,-1.3437767297813268],[-0.37912172209631917,-1.324502104221909]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_15","position":[-0.6416570064544349,-1.315783122752318,0.71338606911949],"aabb_xy":[[-0.6641570066979503,-1.3279877574120902],[-0.6191570062109195,-1.3035784880925463]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[-0.5454734250607016,0.5737111498269241,0.71338606911949],"aabb_xy":[[-0.5493872982561241,0.5649621344203672],[-0.5415595518652792,0.5824601652334809]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_17","position":[-0.4803243440855546,-1.7756432001007205,0.71338606911949],"aabb_xy":[[-0.517824343902588,-1.7802814114118621],[-0.44282434426852096,-1.7710049887895785]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.40755348031336364,-0.5612471137645203,0.71338606911949],"aabb_xy":[[-0.4715534794831336,-0.6080138008834828],[-0.3435534811435937,-0.5144804266455578]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[-0.47287178281058106,1.3248129569276612,0.71338606911949],"aabb_xy":[[-0.5528717838837014,1.3150349105902768],[-0.3928717817374608,1.3345910032650457]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_20","position":[-0.17278952400608039,-2.0799284799284647,0.71338606911949],"aabb_xy":[[-0.18049271468015743,-2.087637850627203],[-0.16508633333200334,-2.0722191092297266]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_21","position":[-0.11655493085416291,1.6377379220684838,0.71338606911949],"aabb_xy":[[-0.1815549287358107,1.5866142583619431],[-0.05155493297251512,1.6888615857750249]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_22","position":[-0.44196988742798776,-1.6025784746867875,0.71338606911949],"aabb_xy":[[-0.44610574376068796,-1.6400784741311447],[-0.43783403109528757,-1.5650784752424307]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_23","position":[0.13842221027314316,-1.521178029450504,0.71338606911949],"aabb_xy":[[0.10157166233615555,-1.5586780302735377],[0.17527275821013077,-1.4836780286274702]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_24","position":[0.4699892101741423,-0.6508550973362826,0.71338606911949],"aabb_xy":[[0.44133987781372597,-0.6795006566133582],[0.4986385425345584,-0.6222095380592066]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_25","position":[0.3332499041751049,-1.9357212172823008,0.71338606911949],"aabb_xy":[[0.3189154790489414,-1.9477814328368397],[0.3475843293012683,-1.923661001727762]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.6707414776384828,-2.3758149732460656,0.71338606911949],"aabb_xy":[[0.663459161261819,-2.4658149768555737],[0.6780237940151463,-2.2858149696365557]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_27","position":[-0.2681249321632653,-2.1674742056671685,0.71338606911949],"aabb_xy":[[-0.29809248907309094,-2.197474205965054],[-0.2381573752534396,-2.137474205369282]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_28","position":[0.42321450492938184,1.398928866768511,0.71338606911949],"aabb_xy":[[0.385714504637207,1.3948873913679074],[0.46071450522155666,1.4029703421691144]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_29","position":[-0.516645194571305,1.7755683259132886,0.71338606911949],"aabb_xy":[[-0.5541451960869367,1.7643415528971433],[-0.47914519305567327,1.7867950989294334]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_30","position":[0.6283022280261799,-1.2186210999922,0.71338606911949],"aabb_xy":[[0.5643022248075421,-1.2653442118912084],[0.6923022312448178,-1.1718979880931917]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_31","position":[-0.1583971881969366,-1.6145601261077573,0.71338606911949],"aabb_xy":[[-0.21339718781868244,-1.6695438188952303],[-0.10339718857519076,-1.5595764333202848]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_32","position":[0.6760960753729577,-2.54725238894379,0.71338606911949],"aabb_xy":[[0.6461044126390874,-2.57725238828059],[0.706087738106828,-2.517252389606989]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_33","position":[-0.03940261881532503,-2.4264992009901523,0.71338606911949],"aabb_xy":[[-0.06440261808728731,-2.4428445645863146],[-0.014402619543362754,-2.41015383739399]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995557258961198,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/830.png","name":"830"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4101.png","name":"4101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/82.png","name":"82"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6187.png","name":"6187"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1583.png","name":"1583"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":650.0800215546968,"rotation_z_degrees":171.49656766212863,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.009882867441333527,-0.00423116491519851,0.009637551328455785]},{"name":"camera_2","offset_m":[-0.008614982953084804,0.016698407783462942,-0.0069416365033892775]},{"name":"camera_3","offset_m":[0.015185162091739365,0.00404696904258996,-0.011656531470536859]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.062976021821559e-05,-0.0018712992951852984,0.0002810668697824253],"end_effector_yaw_offset_degrees":0.37807336797101065},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0005470136721182222,-0.0017364967348992852,-0.001916381712414679],"end_effector_yaw_offset_degrees":0.826967816413521},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0004771692605530357,-0.00020666213181920858,0.0003758790941378776],"end_effector_yaw_offset_degrees":-0.12973157988530692},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013063096185858903,0.00146001453265991,-0.0008675313025440375],"end_effector_yaw_offset_degrees":-0.6821909987152908},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006669921543689776,-0.00025528630791457423,0.00120286854265559],"end_effector_yaw_offset_degrees":-0.0010711708714494783},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.0889655851246744e-05,0.0010851897407923245,0.0010244950897458647],"end_effector_yaw_offset_degrees":-0.6995380071073487}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004564399742498701,0.004025248320052788],"position_m":[0.3154356002575013,0.3571252483200528,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0038029878392929727,0.0046204843393754585],"position_m":[0.17619701216070702,-0.02897951566062454,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0006232808601145355,0.000518604507779419],"position_m":[0.27262328086011456,-0.3667813954922206,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0036147940832090743,-0.001355012248019376],"position_m":[0.33488520591679094,0.10714498775198063,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ae3140434f79db0f5d97a5b82cccbf82007bd5583e5c02e87dd53bf827759580","episode_index":46,"episode_name":"episode_0046"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0046.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_830/tex_ceiling_textures_1583/tex_floor_textures_6187/tex_table_textures_4101/tex_wall_textures_82","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":403255305311465582,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":403255305311465582,"visual_seed":403255305311465582,"scene_id":"lab_003","finished_at":"2026-09-06T15:51:04"} +{"episode_id":"ep_000047","started_at":"2026-09-06T15:51:10","dimensions":{"distractor":{"count":20,"items":[{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_0","position":[-0.2312635445070514,0.46564383626191264,0.71338606911949],"aabb_xy":[[-0.2487635436414185,0.45576420922432476],[-0.21376354537268416,0.4755234632995004]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_1","position":[0.6219273599519999,-0.9026176873560918,0.71338606911949],"aabb_xy":[[0.5719542944194844,-0.9526176871686248],[0.6719004254845153,-0.852617687543559]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_2","position":[0.36880529246792304,-0.45081726490716756,0.71338606911949],"aabb_xy":[[0.3463052926540206,-0.45529188127764825],[0.39130529228182537,-0.44634264853668687]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_3","position":[-0.5266407863209921,0.018853607104957426,0.71338606911949],"aabb_xy":[[-0.5391081444307279,0.0063882824716339215],[-0.5141734282112566,0.03131893173828093]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_4","position":[-0.5673539160856467,-0.9400026204023362,0.71338606911949],"aabb_xy":[[-0.5895264430622974,-0.9621782875584592],[-0.5451813891089957,-0.9178269532462129]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_5","position":[-0.41134403815381576,0.40378004865737793,0.71338606911949],"aabb_xy":[[-0.41955858326949963,0.3951034583597365],[-0.40312949303813167,0.41245663895501905]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_6","position":[0.06466688346621896,0.8100798773430724,0.71338606911949],"aabb_xy":[[0.039446046606379286,0.7848561264901854],[0.08988772032605861,0.8353036281959589]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_7","position":[0.6226604519963796,-1.675805182224852,0.71338606911949],"aabb_xy":[[0.5326604534019097,-1.692055768538273],[0.7126604505908496,-1.659554595911431]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_8","position":[-0.4348366021863766,-0.7222124129162555,0.71338606911949],"aabb_xy":[[-0.4988365985819497,-0.786175701334989],[-0.3708366057908035,-0.6582491244975219]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_9","position":[0.07044116725740712,-1.3693909511205804,0.71338606911949],"aabb_xy":[[0.015447955920270363,-1.424390951459374],[0.12543437859454387,-1.3143909507817868]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_10","position":[0.10557432869794559,-1.7168299229401898,0.71338606911949],"aabb_xy":[[0.07111198129980376,-1.7513238053380125],[0.14003667609608733,-1.682336040542367]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_11","position":[-0.40302307753653915,-0.46009762801372434,0.71338606911949],"aabb_xy":[[-0.44404102092291003,-0.5100976286446817],[-0.3620051341501683,-0.410097627382767]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_12","position":[-0.25338877355920814,1.43402100348538,0.71338606911949],"aabb_xy":[[-0.2589704451933369,1.4215210036676043],[-0.2478071019250794,1.4465210033031553]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_13","position":[-0.21823752593615015,0.7468767769561371,0.71338606911949],"aabb_xy":[[-0.30823752243702185,0.7009651345376787],[-0.12823752943527839,0.7927884193745952]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.28403789757010167,-0.6208404925182369,0.71338606911949],"aabb_xy":[[0.25407034066027595,-0.6508404928161227],[0.3140054544799273,-0.5908404922203512]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.01647121932901152,-2.4118318784834893,0.71338606911949],"aabb_xy":[[-0.03351173085846781,-2.4618318781260493],[0.06645416951649084,-2.3618318788409285]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_16","position":[0.198905414639717,-2.2788564816465264,0.71338606911949],"aabb_xy":[[0.13390541460541427,-2.3255571583268537],[0.26390541467401973,-2.232155804966199]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.5718222583990297,-2.2350899367194517,0.71338606911949],"aabb_xy":[[-0.5778592713996944,-2.2411166377883998],[-0.5657852453983649,-2.2290632356505036]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_18","position":[0.11980927240604544,-1.153757010015372,0.71338606911949],"aabb_xy":[[0.055809270185638415,-1.1981300941406603],[0.18380927462645247,-1.1093839258900837]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_19","position":[0.36942290164833524,1.7026739040330336,0.71338606911949],"aabb_xy":[[0.30442290309126235,1.672921370619151],[0.434422900205408,1.7324264374469163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7030130377810885,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5135.png","name":"5135"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5135.png","name":"5135"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2263.png","name":"2263"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6206.png","name":"6206"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9960.png","name":"9960"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3187.png","name":"3187"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":747.1617148855241,"rotation_z_degrees":61.43799205931127,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.003986868445454494,-0.01732001184225906,-0.019378951922203066]},{"name":"camera_2","offset_m":[0.005254822830243047,-0.015785109458992246,-0.018977430475078758]},{"name":"camera_3","offset_m":[-0.012056844211742055,0.015080943651010172,-0.006656364637412166]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0003181916825908638,0.00171850734660559,-0.00016754769091468537],"end_effector_yaw_offset_degrees":-0.23979045827215195},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0019214245933987905,0.0010759217154805482,0.0018672353739994738],"end_effector_yaw_offset_degrees":0.5031038390373097},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0011648718562886726,-0.00040779591346853526,0.0018003018967478494],"end_effector_yaw_offset_degrees":-0.8509894771118247},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0004768500384580883,-0.00022422756738707853,0.0008105226584911307],"end_effector_yaw_offset_degrees":0.9539871516058354},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0015866977439260074,-0.0017678694337767006,-0.0006950772505614721],"end_effector_yaw_offset_degrees":0.6104251167351875},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0009862881789814396,-0.0016033292822108015,0.0016422899043069404],"end_effector_yaw_offset_degrees":0.07652315573411927}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0008556787197558403,-0.002187432800086313],"position_m":[0.31914432128024417,0.3509125671999137,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004993892575783251,0.00035257383901511705],"position_m":[0.17500610742421674,-0.03324742616098488,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0025495869368393894,-0.0029418009273351952],"position_m":[0.2745495869368394,-0.3702418009273352,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007589533243602111,0.002418175711538159],"position_m":[0.3377410466756398,0.11091817571153816,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a8dc12af7c873568d24d9304ec3803ed22fd36a4d6be8f6200b05ebd6c53c327","episode_index":47,"episode_name":"episode_0047"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0047.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5135/tex_ceiling_textures_3187/tex_floor_textures_9960/tex_table_textures_2263/tex_wall_textures_6206","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7092781905459601073,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7092781905459601073,"visual_seed":7092781905459601073,"scene_id":"lab_003","finished_at":"2026-09-06T15:57:41"} +{"episode_id":"ep_000048","started_at":"2026-09-06T15:57:48","dimensions":{"distractor":{"count":27,"items":[{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_0","position":[-0.15464656040445124,1.3126130304683303,0.71338606911949],"aabb_xy":[[-0.24464656012762537,1.2895396779331503],[-0.06464656068127701,1.33568638300351]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_1","position":[0.4569183443125391,-1.663315316253541,0.71338606911949],"aabb_xy":[[0.4108332530578076,-1.7273153135060961],[0.5030034355672706,-1.599315319000986]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_2","position":[0.20684389182780072,-2.1176147541131294,0.71338606911949],"aabb_xy":[[0.17685222909393036,-2.14761475344993],[0.23683555456167102,-2.087614754776329]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[-0.0018189045059722186,1.7587362086649505,0.71338606911949],"aabb_xy":[[-0.011112522743122799,1.7212362101768166],[0.007474713731178362,1.7962362071530844]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_4","position":[0.3396273199331661,-2.4711706348729066,0.71338606911949],"aabb_xy":[[0.3240715505229008,-2.486721068117314],[0.35518308934343135,-2.4556202016285]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_5","position":[0.6146947766167343,-0.6021233423038608,0.71338606911949],"aabb_xy":[[0.6076533256659867,-0.6091500940416552],[0.6217362275674819,-0.5950965905660661]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_6","position":[0.6707032922877703,1.3870908172578305,0.71338606911949],"aabb_xy":[[0.6207032927114357,1.3371102383057247],[0.7207032918641051,1.4370713962099366]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[0.19721610937757017,-1.0991533712315635,0.71338606911949],"aabb_xy":[[0.10721610995919925,-1.132528868075753],[0.28721610879594106,-1.0657778743873736]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_8","position":[0.14221206763388705,1.2010777691278163,0.71338606911949],"aabb_xy":[[0.0944059000201184,1.1360777664207573],[0.19001823524765568,1.2660777718348752]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_9","position":[0.6184086992583713,-1.842317705203325,0.71338606911949],"aabb_xy":[[0.5771598882284564,-1.8973177047155425],[0.6596575102882859,-1.7873177056911076]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_10","position":[0.4471512672137836,1.6607478530862028,0.71338606911949],"aabb_xy":[[0.42965126793569675,1.6434097530198564],[0.4646512664918705,1.6780859531525483]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_11","position":[0.09700336867118531,-2.2237263748289147,0.71338606911949],"aabb_xy":[[0.08758589410132256,-2.2331425519666337],[0.10642084324104806,-2.2143101976911956]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_12","position":[-0.3899613691142896,0.5891294314394955,0.71338606911949],"aabb_xy":[[-0.45996137071656906,0.5756966382378379],[-0.3199613675120101,0.602562224641153]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_13","position":[-0.17275623277177432,-0.5139942946536178,0.71338606911949],"aabb_xy":[[-0.26275622950738453,-0.5671777579709123],[-0.08275623603616408,-0.4608108313363233]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_14","position":[-0.10604134766023177,1.1795932129527755,0.71338606911949],"aabb_xy":[[-0.1960413513371499,1.1181608063756707],[-0.016041343983313566,1.2410256195298794]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_15","position":[0.018029492726494123,1.0385366262094258,0.71338606911949],"aabb_xy":[[0.0005294924814447376,1.0210368383698587],[0.0355294929715435,1.0560364140489924]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_16","position":[0.15980867630429596,1.3494790943139847,0.71338606911949],"aabb_xy":[[0.15537804694945578,1.3440307225793025],[0.16423930565913614,1.3549274660486674]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_17","position":[0.2741702261055121,-2.3126915135018806,0.71338606911949],"aabb_xy":[[0.23286568304177607,-2.3766915130699977],[0.31547476916924805,-2.2486915139337635]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_18","position":[-0.23421937340509885,-0.8697407235287642,0.71338606911949],"aabb_xy":[[-0.27101400653000507,-0.9066465986253464],[-0.19742474028019255,-0.8328348484321818]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_19","position":[-0.4942496508235791,-0.10479935741211532,0.71338606911949],"aabb_xy":[[-0.5442284593338949,-0.15479935741783413],[-0.44427084231326314,-0.05479935740639651]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_20","position":[0.4378275313921045,0.6469654050341118,0.71338606911949],"aabb_xy":[[0.40917819903168823,0.6183198457570359],[0.4664768637525207,0.6756109643111875]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_21","position":[-0.4839966051697281,1.6657052827518117,0.71338606911949],"aabb_xy":[[-0.5064957408959552,1.643205281973549],[-0.4614974694435012,1.688205283530075]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_22","position":[-0.5439032139328871,1.3090542751649084,0.71338606911949],"aabb_xy":[[-0.5488592341177684,1.286554274962787],[-0.538947193748006,1.3315542753670302]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_23","position":[-0.3434386701530792,0.38869478701678206,0.71338606911949],"aabb_xy":[[-0.3934160870183327,0.3386947855275335],[-0.2934612532878255,0.4386947885060306]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_24","position":[0.7098255537769969,-2.138381864323728,0.71338606911949],"aabb_xy":[[0.6989197776894341,-2.218381860722557],[0.7207313298645596,-2.058381867924899]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.4922216960061424,0.38024293763848416,0.71338606911949],"aabb_xy":[[-0.5088988319992379,0.3635430136645538],[-0.4755445600130469,0.3969428616124144]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_26","position":[0.46430479449538,0.24330902794655618,0.71338606911949],"aabb_xy":[[0.4535318205740122,0.20830902972751716],[0.47507776841674776,0.27830902616559516]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7012329370404813,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6687.png","name":"6687"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6687.png","name":"6687"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4107.png","name":"4107"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3910.png","name":"3910"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9376.png","name":"9376"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":577.7760249398775,"rotation_z_degrees":286.87293176101736,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003016641363256259,0.0169092232708403,0.012089886149724085]},{"name":"camera_2","offset_m":[-0.006970617569140277,-0.006771116578652356,0.01322799661233778]},{"name":"camera_3","offset_m":[0.007368068572476773,-0.008956426611775696,-0.017355244595468347]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013920469485879305,0.0010225969189486418,0.0011179176999656986],"end_effector_yaw_offset_degrees":0.0806551726054221},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0017314834767936126,0.0014001917861572342,0.00011314462298027753],"end_effector_yaw_offset_degrees":-0.70361528282861},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009239518138699377,-0.0009698101359240923,-0.00025197064406741855],"end_effector_yaw_offset_degrees":-0.8436774008246963},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012470586090204349,0.001541357312422676,-8.447071420688711e-05],"end_effector_yaw_offset_degrees":-0.09061359707141148},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013394797368567126,-0.0010661508727598207,-0.0017916938752427273],"end_effector_yaw_offset_degrees":0.8304662591924246},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001023499034824403,0.00020132933947897237,-0.0002610982060425738],"end_effector_yaw_offset_degrees":-0.15811239830744572}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.000958045575211214,0.0011112859442977433],"position_m":[0.32095804557521124,0.3542112859442978,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0029310866866465246,-0.004460057354736467],"position_m":[0.17706891331335348,-0.038060057354736464,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0035848822060761685,0.0021412873005213842],"position_m":[0.2755848822060762,-0.36515871269947864,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.001150877036501784,-0.0017741488695707233],"position_m":[0.3396508770365018,0.10672585113042928,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c2509aac714a2a69996ffb76800795ea20581b0dbe7fdbe13ba24ee19a65a4bb","episode_index":48,"episode_name":"episode_0048"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0048.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_6687/tex_ceiling_textures_9376/tex_floor_textures_3910/tex_table_textures_4107/tex_wall_textures_7847","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6392796473739065217,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6392796473739065217,"visual_seed":6392796473739065217,"scene_id":"lab_003","finished_at":"2026-09-06T16:04:29"} +{"episode_id":"ep_000049","started_at":"2026-09-06T16:04:35","dimensions":{"distractor":{"count":32,"items":[{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_0","position":[-0.4761064442704459,-1.2385623684220566,0.71338606911949],"aabb_xy":[[-0.49860286570431006,-1.261062368228804],[-0.45361002283658186,-1.2160623686153091]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_1","position":[0.23217253984027608,-2.12720614543708,0.71338606911949],"aabb_xy":[[0.22023980547844804,-2.1395882982449392],[0.24410527420210418,-2.1148239926292205]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_2","position":[-0.503322896499669,-2.074120189433929,0.71338606911949],"aabb_xy":[[-0.557338492781569,-2.138120192326186],[-0.449307300217769,-2.0101201865416716]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.22170732003716775,-2.3442960145270817,0.71338606911949],"aabb_xy":[[0.21300935774645252,-2.3564209888345564],[0.2304052823278831,-2.332171040219607]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_4","position":[0.6839686670285245,-2.49645339671845,0.71338606911949],"aabb_xy":[[0.6464686686051242,-2.50961761068628],[0.7214686654519249,-2.4832891827506187]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_5","position":[0.27386626002067593,1.0360345823075319,0.71338606911949],"aabb_xy":[[0.2666050124502685,1.0232475720440226],[0.28112750759108335,1.0488215925710416]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_6","position":[-0.5280897581346067,0.05215574104122389,0.71338606911949],"aabb_xy":[[-0.5447668941277022,0.035455817067293616],[-0.5114126221415112,0.06885566501515417]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_7","position":[0.014558121760092302,0.9112634631243517,0.71338606911949],"aabb_xy":[[-0.049441874635480776,0.8473001747056181],[0.07855811815566538,0.9752267515430852]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_8","position":[0.4656268822450542,-0.637560227639008,0.71338606911949],"aabb_xy":[[0.40562688138424136,-0.6889866576454943],[0.5256268831058669,-0.5861337976325215]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_9","position":[-0.1890076822764737,-1.808491177815127,0.71338606911949],"aabb_xy":[[-0.25300337967157027,-1.8724911761158356],[-0.1250119848813771,-1.7444911795144182]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_10","position":[0.3973944884831466,-1.4328824454555618,0.71338606911949],"aabb_xy":[[0.36309757746540594,-1.467179331665503],[0.4316913995008872,-1.3985855592456204]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.4220080574991899,-2.3514950509144885,0.71338606911949],"aabb_xy":[[-0.4860080567933581,-2.4154811912833427],[-0.3580080582050217,-2.2875089105456343]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_12","position":[-0.5928021655304122,1.4219629823192999,0.71338606911949],"aabb_xy":[[-0.6528021671733341,1.3699628330273557],[-0.5328021638874904,1.473963131611244]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.17470160324380735,-0.998956711445711,0.71338606911949],"aabb_xy":[[0.11070160286627373,-1.0487019782965232],[0.23870160362134096,-0.9492114445948986]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_14","position":[0.6670054547412274,-0.865802995134286,0.71338606911949],"aabb_xy":[[0.6295054549241939,-0.8704412064454278],[0.704505454558261,-0.8611647838231441]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.5248674784747462,-0.26103725887495344,0.71338606911949],"aabb_xy":[[-0.5607809828997359,-0.29695076709170803],[-0.48895397404975655,-0.2251237506581988]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_16","position":[0.5978464463434501,-2.190965327583487,0.71338606911949],"aabb_xy":[[0.5918799074027142,-2.196926472242851],[0.6038129852841857,-2.1850041829241227]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[-0.5445966047437975,-2.415926448216598,0.71338606911949],"aabb_xy":[[-0.5572233920309938,-2.4254725219181705],[-0.5319698174566011,-2.4063803745150243]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_18","position":[0.49088543803846196,-1.6315709665498204,0.71338606911949],"aabb_xy":[[0.48289144946075846,-1.6395710466449107],[0.49887942661616524,-1.62357088645473]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_19","position":[-0.272846441237012,1.5443006128312766,0.71338606911949],"aabb_xy":[[-0.29063994817192845,1.526500867235479],[-0.2550529343020956,1.5621003584270743]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_20","position":[0.6567296025295191,-1.0832082810543846,0.71338606911949],"aabb_xy":[[0.5927296039429466,-1.1302152444538933],[0.7207296011160915,-1.0362013176548759]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_21","position":[0.5366280735177291,1.6029445038424668,0.71338606911949],"aabb_xy":[[0.5191280732726796,1.5854447160029],[0.5541280737627784,1.6204442916820336]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_22","position":[0.33873330878679875,0.8761979943357083,0.71338606911949],"aabb_xy":[[0.33409819363456533,0.8723306592585597],[0.34336842393903205,0.880065329412857]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_23","position":[-0.09026207458671243,1.2354801806517903,0.71338606911949],"aabb_xy":[[-0.1000180640958863,1.2257176465925559],[-0.08050608507753852,1.2452427147110248]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_24","position":[0.5264976887584154,-0.9675297226180073,0.71338606911949],"aabb_xy":[[0.48899768826105716,-0.9714984061661256],[0.5639976892557736,-0.9635610390698888]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_25","position":[0.25632924032833426,-1.1474557055994297,0.71338606911949],"aabb_xy":[[0.16632924060516005,-1.1705290581346093],[0.3463292400515084,-1.1243823530642496]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_26","position":[0.2636445571429,-0.8079963455181125,0.71338606911949],"aabb_xy":[[0.2165151781410643,-0.8719963465625143],[0.31077393614473564,-0.7439963444737104]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_27","position":[-0.142662452445103,-2.4658304703022753,0.71338606911949],"aabb_xy":[[-0.1615468362136132,-2.484716395082628],[-0.1237780686765928,-2.4469445455219225]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_28","position":[0.09133176435759738,-1.9051334564999505,0.71338606911949],"aabb_xy":[[0.08076428469949835,-1.9156784866129593],[0.10189924401569637,-1.8945884263869421]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.532114139595497,-1.125337529854953,0.71338606911949],"aabb_xy":[[-0.5961141398559677,-1.170346329207881],[-0.46811413933502616,-1.080328730502025]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_30","position":[-0.22869333175283846,1.031941543042219,0.71338606911949],"aabb_xy":[[-0.2657274411808982,0.9975643357085096],[-0.19165922232477872,1.0663187503759284]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_31","position":[0.0022249335868425035,1.1553574057357503,0.71338606911949],"aabb_xy":[[-0.032775066309176364,1.14698317022381],[0.03722493348286137,1.1637316412476901]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945566975235732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/30.png","name":"30"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/30.png","name":"30"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4706.png","name":"4706"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6154.png","name":"6154"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6655.png","name":"6655"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7084.png","name":"7084"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":786.3652430787563,"rotation_z_degrees":63.06070102251169,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01444171856572559,0.00965083895533866,0.004323315399127545]},{"name":"camera_2","offset_m":[0.004151367151016966,0.001389904396427357,0.010532887369308814]},{"name":"camera_3","offset_m":[-0.01954130200228787,0.01622843214295838,0.010084220236422116]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008653203597078108,-5.260964222914607e-06,0.00012764387634073152],"end_effector_yaw_offset_degrees":-0.7241949955896947},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003310105642809144,0.0011164020449001334,-0.00020332824683000524],"end_effector_yaw_offset_degrees":-0.8596321344504183},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[2.315107723871836e-05,0.0016796450507878908,0.0014790613983550389],"end_effector_yaw_offset_degrees":0.8839815177620292},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007448962718839681,0.001065452345638018,0.00162003940503916],"end_effector_yaw_offset_degrees":-0.03857910743610016},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012135094558890255,0.0011067278355293307,-0.0015882210104424294],"end_effector_yaw_offset_degrees":0.0655507026784159},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00023883813017563558,-0.0014224281412828646,0.0017484485024754394],"end_effector_yaw_offset_degrees":0.7690893713474329}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004503879167051378,-0.002058659090683709],"position_m":[0.31549612083294865,0.3510413409093163,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003590400684607177,0.0018422417728933306],"position_m":[0.17640959931539282,-0.031757758227106664,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.003916011728094208,0.00268127438195252],"position_m":[0.2680839882719058,-0.3646187256180475,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0035770853943586345,-0.004432660228532967],"position_m":[0.3349229146056414,0.10406733977146704,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"205aec17107d6b9552fbafcd5778bbdafc5bd7a4ec47f0e73d12b1445a393b76","episode_index":49,"episode_name":"episode_0049"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0049.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_30/tex_ceiling_textures_7084/tex_floor_textures_6655/tex_table_textures_4706/tex_wall_textures_6154","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7382437621191713341,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7382437621191713341,"visual_seed":7382437621191713341,"scene_id":"lab_003","finished_at":"2026-09-06T16:11:08"} +{"episode_id":"ep_000050","started_at":"2026-09-06T16:11:15","dimensions":{"distractor":{"count":34,"items":[{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_0","position":[-0.4132261887228346,-1.0833533448283428,0.71338606911949],"aabb_xy":[[-0.4500208218477409,-1.120259219924925],[-0.37643155559792835,-1.0464474697317605]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_1","position":[-0.4092222356899127,0.4117995404063488,0.71338606911949],"aabb_xy":[[-0.4262323329799633,0.3956650519080748],[-0.392212138399862,0.4279340289046227]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_2","position":[0.5860641665835697,1.476242154207291,0.71338606911949],"aabb_xy":[[0.5284336976962987,1.4162421552805804],[0.6436946354708404,1.5362421531340014]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_3","position":[-0.3977441715111136,1.1515498823921453,0.71338606911949],"aabb_xy":[[-0.44051087839053377,1.0875498789703428],[-0.3549774646316934,1.2155498858139477]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_4","position":[0.07238720024223289,-2.216403744873837,0.71338606911949],"aabb_xy":[[0.0023872038322710894,-2.236841680525518],[0.14238719665219465,-2.1959658092221543]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_5","position":[0.5500021325887516,1.661054491031194,0.71338606911949],"aabb_xy":[[0.5418884779153745,1.6529486745771647],[0.5581157872621287,1.6691603074852228]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_6","position":[0.23457774789736308,-1.7499107116305856,0.71338606911949],"aabb_xy":[[0.19957774962724317,-1.7569848393255738],[0.269577746167483,-1.7428365839355975]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_7","position":[0.5055794746037878,-2.315444438638187,0.71338606911949],"aabb_xy":[[0.45057947542719823,-2.3704341134131446],[0.5605794737803772,-2.2604547638632293]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_8","position":[0.3661629708604712,-1.0237424319037982,0.71338606911949],"aabb_xy":[[0.28616296760262827,-1.1037389396957822],[0.4461629741183142,-0.9437459241118142]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_9","position":[0.020375324949411633,-1.189332526902563,0.71338606911949],"aabb_xy":[[0.012338990248126791,-1.1973706462069797],[0.028411659650696475,-1.1812944075981462]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_10","position":[-0.23225101807178034,-0.38901770176061135,0.71338606911949],"aabb_xy":[[-0.28225101973327504,-0.43901614401631406],[-0.18225101641028554,-0.33901925950490863]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_11","position":[0.6443025019137008,-2.4967841154624715,0.71338606911949],"aabb_xy":[[0.5803068045186041,-2.56078411376318],[0.7082981993087972,-2.432784117161763]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_12","position":[-0.41153319157242574,-1.4999792987640326,0.71338606911949],"aabb_xy":[[-0.49152701515098396,-1.5799793013568744],[-0.3315393679938675,-1.4199792961711912]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_13","position":[0.3060809750978082,1.0367518271640366,0.71338606911949],"aabb_xy":[[0.2980547044671822,1.028000332186684],[0.3141072457284342,1.0455033221413892]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_14","position":[0.2138299842130016,-1.2125975232360267,0.71338606911949],"aabb_xy":[[0.20583649441771962,-1.2205956551765027],[0.22182347400828367,-1.2045993912955515]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_15","position":[-0.37009522872045375,-0.5157533461362567,0.71338606911949],"aabb_xy":[[-0.4400952321120157,-0.5510691198396874],[-0.3000952253288917,-0.48043757243282575]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_16","position":[-0.6287897440653234,1.0473406994075227,0.71338606911949],"aabb_xy":[[-0.6927897472839613,1.0006175875085144],[-0.5647897408466855,1.094063811306531]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_17","position":[0.6553656898355817,-1.1201986597486664,0.71338606911949],"aabb_xy":[[0.6476624991615048,-1.127908030447404],[0.6630688805096587,-1.1124892890499283]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.4187993700660201,1.6193945295199579,0.71338606911949],"aabb_xy":[[-0.4637993715322489,1.5743946726584774],[-0.3737993685997912,1.6643943863814388]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_19","position":[0.20681419418797808,1.3149178244944952,0.71338606911949],"aabb_xy":[[0.1877018868299992,1.295783045617253],[0.22592650154595692,1.334052603371737]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_20","position":[-0.6515105195228554,-1.7626282895701277,0.71338606911949],"aabb_xy":[[-0.6925284629092263,-1.812628290201085],[-0.6104925761364846,-1.7126282889391704]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_21","position":[-0.47321066146639656,-0.7449962372243015,0.71338606911949],"aabb_xy":[[-0.5372106631443938,-0.7935136287036157],[-0.40921065978839916,-0.6964788457449873]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_22","position":[-0.3226754601036935,0.9533913742942528,0.71338606911949],"aabb_xy":[[-0.4026754586910129,0.8740757723560919],[-0.24267546151637406,1.0327069762324137]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_23","position":[-0.11387489280196594,0.41402912577385464,0.71338606911949],"aabb_xy":[[-0.2038748893028377,0.3681174833553964],[-0.023874896301094194,0.4599407681923129]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_24","position":[-0.6418062382682934,0.7430051004377392,0.71338606911949],"aabb_xy":[[-0.6452469145083505,0.7391436674633748],[-0.6383655620282361,0.7468665334121037]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_25","position":[0.3998145792872674,-1.6606575339640144,0.71338606911949],"aabb_xy":[[0.3711652469268511,-1.6893030932410902],[0.42846391164768355,-1.6320119746869386]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_26","position":[0.460122642446388,-2.4715138493033053,0.71338606911949],"aabb_xy":[[0.43015508553656234,-2.501513849601191],[0.4900901993562137,-2.441513849005419]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_27","position":[-0.14094059134015668,-1.0283625582697618,0.71338606911949],"aabb_xy":[[-0.1859331780586071,-1.0733625575442105],[-0.09594800462170627,-0.983362558995313]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_28","position":[-0.6236229598480607,0.5836989952468916,0.71338606911949],"aabb_xy":[[-0.6736229611319006,0.5337201408562693],[-0.5736229585642206,0.6336778496375135]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_29","position":[0.6376871518081959,-0.2709392570998861,0.71338606911949],"aabb_xy":[[0.5736871498958537,-0.32685040635789653],[0.7016871537205384,-0.21502810784187565]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_30","position":[-0.3936730089840678,0.03423654471889348,0.71338606911949],"aabb_xy":[[-0.44355570586176407,-0.015763454527381263],[-0.3437903121063716,0.08423654396516823]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_31","position":[-0.6132735300467952,0.3689077884466134,0.71338606911949],"aabb_xy":[[-0.6748642892707881,0.30490779033756654],[-0.5516827708228025,0.4329077865556603]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_32","position":[0.591713558723937,0.7616130033822084,0.71338606911949],"aabb_xy":[[0.588010297394798,0.7579109850734904],[0.5954168200530758,0.7653150216909261]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_33","position":[0.46671563462369625,-1.4555252762185544,0.71338606911949],"aabb_xy":[[0.3867156331935691,-1.5350424312311637],[0.5467156360538235,-1.3760081212059447]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7036437673216805,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7913.png","name":"7913"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7913.png","name":"7913"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9165.png","name":"9165"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3657.png","name":"3657"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1308.png","name":"1308"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1589.png","name":"1589"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":572.0115436778416,"rotation_z_degrees":105.28530806331408,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01568297744350246,-0.007142924656936077,0.0003137824099295472]},{"name":"camera_2","offset_m":[0.0013176925604388053,0.010359884531463363,0.009048041186640918]},{"name":"camera_3","offset_m":[-0.014680124198368373,-0.018294744856046985,-0.01858961395686167]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0015640684487839775,-0.0013548653700710181,-0.0010947963786547743],"end_effector_yaw_offset_degrees":-0.5180336597931734},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0006775766432344326,0.00028513427408169423,-0.001414319715229981],"end_effector_yaw_offset_degrees":0.08812899168840538},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005083293887027649,-0.0018274032994899532,-0.001062908976238567],"end_effector_yaw_offset_degrees":0.8512434759096508},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0008268243439331297,0.0019158654270966958,0.0009904993484401744],"end_effector_yaw_offset_degrees":-0.5021736061441711},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001044604139027284,-0.0010504996722588453,-0.00170502308155117],"end_effector_yaw_offset_degrees":-0.04762490576983458},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001195094924868005,0.0003987744963926871,0.0011961559294249567],"end_effector_yaw_offset_degrees":-0.4423845841476326}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.001320125991663703,-0.0032648340061968086],"position_m":[0.3186798740083363,0.3498351659938032,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004212250058417842,-0.000518082541462522],"position_m":[0.17578774994158214,-0.03411808254146252,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028872434375065556,-0.0035942037940381766],"position_m":[0.2748872434375066,-0.3708942037940382,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0033419961693994414,0.00412796146833595],"position_m":[0.3418419961693995,0.11262796146833595,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2135606805edecd05de05b2d3736d5c525949d610f69866535e87725fc5984ea","episode_index":50,"episode_name":"episode_0050"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0050.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_7913/tex_ceiling_textures_1589/tex_floor_textures_1308/tex_table_textures_9165/tex_wall_textures_3657","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4500289104784942703,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4500289104784942703,"visual_seed":4500289104784942703,"scene_id":"lab_003","finished_at":"2026-09-06T16:18:22"} +{"episode_id":"ep_000051","started_at":"2026-09-06T16:18:27","dimensions":{"distractor":{"count":31,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.6529675270069415,-0.24527584313095696,0.71338606911949],"aabb_xy":[[-0.6762493692050728,-0.33027584442818503],[-0.6296856848088102,-0.16027584183372892]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_1","position":[0.5775374156354856,-0.6605097913026527,0.71338606911949],"aabb_xy":[[0.4975374151652697,-0.6688204989170012],[0.6575374161057016,-0.6521990836883045]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[0.07795916017884763,1.6123294073976635,0.71338606911949],"aabb_xy":[[0.04045915968148939,1.6083607238495452],[0.11545916067620587,1.6162980909457823]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_3","position":[-0.6338989060608303,-0.6933852732800974,0.71338606911949],"aabb_xy":[[-0.6515745366494287,-0.7110654895595],[-0.616223275472232,-0.6757050570006945]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_4","position":[-0.4338190745716266,-0.8659697905243022,0.71338606911949],"aabb_xy":[[-0.49381907516764284,-0.9207822630695257],[-0.3738190739756105,-0.8111573179790788]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.4436255456154398,-1.0312409926080819,0.71338606911949],"aabb_xy":[[-0.4811255457210328,-1.0380631544610628],[-0.40612554550984686,-1.0244188307551005]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.44004403997852926,1.5981747046130192,0.71338606911949],"aabb_xy":[[-0.4746351228325744,1.533174704327988],[-0.405452957124484,1.66317470489805]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.5193518616475022,-1.5477740338878097,0.71338606911949],"aabb_xy":[[-0.5693518620080682,-1.5977540210974124],[-0.4693518612869361,-1.4977940466782065]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_8","position":[-0.03814452548934921,-0.9739120902979455,0.71338606911949],"aabb_xy":[[-0.048712005147448216,-0.9844571204109539],[-0.027577045831250195,-0.9633670601849368]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_9","position":[-0.16353961750400525,0.03322500704575848,0.71338606911949],"aabb_xy":[[-0.1857121444806561,0.011049339889635306],[-0.1413670905273544,0.055400674201881654]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_10","position":[0.3335834583805841,0.979985590779366,0.71338606911949],"aabb_xy":[[0.30493412602016784,0.9513400315022903],[0.3622327907410003,1.0086311500564418]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_11","position":[-0.32796170335314045,1.3554980668419883,0.71338606911949],"aabb_xy":[[-0.35046170316704284,1.3510234504715077],[-0.30546170353923807,1.3599726832124692]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_12","position":[-0.36483406482309755,0.8394286859900637,0.71338606911949],"aabb_xy":[[-0.4288340650970757,0.7893625857927757],[-0.30083406454911926,0.8894947861873517]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_13","position":[-0.031222761963487167,1.7717281165353094,0.71338606911949],"aabb_xy":[[-0.08120017882874075,1.7217281150460604],[0.01875465490176641,1.8217281180245575]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.10826578522928587,-0.6936496773437064,0.71338606911949],"aabb_xy":[[-0.19826578756330493,-0.7711320319288191],[-0.018265782895266827,-0.6161673227585938]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_15","position":[-0.5624818485050698,0.7176142202243243,0.71338606911949],"aabb_xy":[[-0.58136623227358,0.6987282954439715],[-0.5435974647365596,0.7365001450046771]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_16","position":[0.007733339853216559,-1.28964268067194,0.71338606911949],"aabb_xy":[[-0.05626665654235652,-1.3536059690906737],[0.07173333624878964,-1.2256793922532065]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_17","position":[-0.1770937323253866,1.0455392270891015,0.71338606911949],"aabb_xy":[[-0.2420937349631801,0.9940596283896546],[-0.11209372968759312,1.0970188257885485]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_18","position":[0.5760017977396885,1.6694231304595584,0.71338606911949],"aabb_xy":[[0.5460101350058181,1.6394231311227576],[0.6059934604735587,1.6994231297963587]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_19","position":[0.5924436876279964,-0.480608940711138,0.71338606911949],"aabb_xy":[[0.5586681284373034,-0.4946474359243031],[0.6262192468186893,-0.46657044549797305]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_20","position":[-0.3199015288221775,-1.3067450285181779,0.71338606911949],"aabb_xy":[[-0.34281724170722744,-1.3296493256546016],[-0.29698581593712764,-1.2838407313817546]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_21","position":[-0.4999688831466261,-2.1981402444223623,0.71338606911949],"aabb_xy":[[-0.5499688848081208,-2.2481386866780646],[-0.4499688814851313,-2.148141802166659]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_22","position":[0.5423817547413434,-1.9246716065151834,0.71338606911949],"aabb_xy":[[0.5374824624347798,-1.9523485258177518],[0.5472810470479068,-1.8969946872126142]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_23","position":[0.4755904386344707,0.6806857949348672,0.71338606911949],"aabb_xy":[[0.47074684387324073,0.6758341424558832],[0.4804340333957007,0.6855374474138515]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_24","position":[0.16237792298255027,0.8156245161884828,0.71338606911949],"aabb_xy":[[0.07237792624694006,0.762441052871188],[0.2523779197181605,0.868807979505777]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_25","position":[0.11159406264274174,1.1372524427277324,0.71338606911949],"aabb_xy":[[0.0730483698175407,1.0987066716715435],[0.15013975546794278,1.175798213783921]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.5466285639973179,-0.10537916151415949,0.71338606911949],"aabb_xy":[[0.5310727945870526,-0.1209295947585667],[0.5621843334075831,-0.0898287282697523]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_27","position":[-0.10819541926406495,0.6831221319049057,0.71338606911949],"aabb_xy":[[-0.1438245751640247,0.6474894651480526],[-0.07256626336410521,0.7187547986617585]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_28","position":[-0.2692962355091913,0.2615379920144125,0.71338606911949],"aabb_xy":[[-0.2867961689431746,0.24403799209417792],[-0.25179630207520787,0.279037991934647]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_29","position":[0.546507083756304,0.8131332641054265,0.71338606911949],"aabb_xy":[[0.5090070851806832,0.8003969684418686],[0.5840070823319248,0.8258695597689845]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_30","position":[-0.35020029489673155,-1.8891895410127206,0.71338606911949],"aabb_xy":[[-0.3677002951417809,-1.9066893288522873],[-0.3327002946516821,-1.8716897531731536]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954678730760183,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8129.png","name":"8129"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/465.png","name":"465"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7251.png","name":"7251"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/203.png","name":"203"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7043.png","name":"7043"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":614.9969477819363,"rotation_z_degrees":285.1723270232042,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005073520108350419,0.013567248842111867,0.014392461553148207]},{"name":"camera_2","offset_m":[-0.018379746511947192,-0.01658484237458403,0.008167980868246248]},{"name":"camera_3","offset_m":[-0.002563598305969767,-0.017703633882583402,-0.009273501697260272]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00013900834338448787,-0.000790593582494526,-0.0009816039202749085],"end_effector_yaw_offset_degrees":0.8015077196412999},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010880014229734144,-0.0017685446509374926,-0.00026750721865628877],"end_effector_yaw_offset_degrees":-0.1305823191834612},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016300237578106861,0.0005943913961090758,0.0009439549181633937],"end_effector_yaw_offset_degrees":-0.4071019508863174},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019200952479251744,0.0013987025107286256,-0.0013638886405255822],"end_effector_yaw_offset_degrees":0.6895390514577449},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0015738351112612307,-0.0006896174348227633,-0.001096807610192256],"end_effector_yaw_offset_degrees":0.43022861128892464},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0015805612061779066,-0.0011063889398245969,0.0007364308255014872],"end_effector_yaw_offset_degrees":-0.9058550062304409}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[9.531539774421983e-05,0.00432827112294749],"position_m":[0.3200953153977442,0.3574282711229475,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002097109846087527,0.0042167499753372915],"position_m":[0.17790289015391247,-0.029383250024662706,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002447068224458193,0.0033295390324072334],"position_m":[0.26955293177554185,-0.3639704609675928,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.000363969807697837,0.0008361770890740559],"position_m":[0.3381360301923022,0.10933617708907406,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d7ff489478fb0ef559279b6fad652ed25ed3702409317c7bdda0d166098f1f3f","episode_index":51,"episode_name":"episode_0051"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0051.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_8129/tex_ceiling_textures_7043/tex_floor_textures_203/tex_table_textures_465/tex_wall_textures_7251","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7289657211321243767,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7289657211321243767,"visual_seed":7289657211321243767,"scene_id":"lab_003","finished_at":"2026-09-06T16:25:07"} +{"episode_id":"ep_000052","started_at":"2026-09-06T16:25:13","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_0","position":[0.5360354035662445,-0.5398057496482811,0.71338606911949],"aabb_xy":[[0.5280091329356186,-0.5485572446256337],[0.5440616741968706,-0.5310542546709285]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_1","position":[0.28033921265602635,1.0593802161885022,0.71338606911949],"aabb_xy":[[0.23033921307969163,1.0093996372363965],[0.33033921223236107,1.1093607951406084]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_2","position":[-0.5426098347627559,-2.355213200448137,0.71338606911949],"aabb_xy":[[-0.5651098342864632,-2.3777091478987575],[-0.5201098352390484,-2.332717252997516]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.5027007701810238,0.07500165035824136,0.71338606911949],"aabb_xy":[[0.49711909854689507,0.06250165054046584],[0.5082824418151526,0.08750165017601684]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.049311006128061274,-1.549508912742972,0.71338606911949],"aabb_xy":[[-0.06681100526242845,-1.5593885397805598],[-0.0318110069936941,-1.5396292857053842]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_5","position":[-0.1403975449246736,1.0481618093475564,0.71338606911949],"aabb_xy":[[-0.1622872925136144,0.9581618120583072],[-0.11850779733573281,1.1381618066368053]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_6","position":[-0.5036153421334124,1.5946669154182298,0.71338606911949],"aabb_xy":[[-0.5933024184415278,1.5046669151637793],[-0.41392826582529685,1.6846669156726803]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_7","position":[0.24049163988653188,0.6365265455396245,0.71338606911949],"aabb_xy":[[0.20299163837090017,0.6252997725234795],[0.2779916414021636,0.6477533185557696]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_8","position":[-0.3031752836084165,-1.9766715936110497,0.71338606911949],"aabb_xy":[[-0.3096769201164211,-1.98643941563736],[-0.2966736471004119,-1.9669037715847404]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_9","position":[0.028937580773327642,-2.0074370842013396,0.71338606911949],"aabb_xy":[[-0.005653502080717572,-2.07243708448637],[0.06352866362737285,-1.9424370839163083]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_10","position":[0.3342926027427602,-1.8901304916043462,0.71338606911949],"aabb_xy":[[0.29696132621751753,-1.9247835463991985],[0.3716238792680027,-1.855477436809494]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_11","position":[-0.40984085048373564,1.1736055563951453,0.71338606911949],"aabb_xy":[[-0.4249431519447536,1.158504034764083],[-0.39473854902271743,1.1887070780262068]]},{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_12","position":[0.5509379442178144,-0.08776227511610601,0.71338606911949],"aabb_xy":[[0.5401649702964467,-0.12276227333514501],[0.5617109181391823,-0.05276227689706704]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_13","position":[0.4431958511430989,-0.6051027636105182,0.71338606911949],"aabb_xy":[[0.42069585089958356,-0.6173073982702902],[0.46569585138661435,-0.5928981289507463]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_14","position":[-0.5959719229388869,-0.11511468555792348,0.71338606911949],"aabb_xy":[[-0.6209719222108492,-0.13146004915408582],[-0.5709719236669246,-0.09876932196176114]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_15","position":[-0.4164929744280123,-0.47475432691888964,0.71338606911949],"aabb_xy":[[-0.48049297171366095,-0.5162610458717336],[-0.35249297714236366,-0.43324760796604567]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_16","position":[0.6575137995503171,1.0799235557102902,0.71338606911949],"aabb_xy":[[0.6416293062849919,1.0655706154114661],[0.6733982928156422,1.0942764960091143]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_17","position":[0.17481726578505852,-1.3223738764907629,0.71338606911949],"aabb_xy":[[0.16219047849786214,-1.3319199501923358],[0.18744405307225484,-1.31282780278919]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.1424976309270548,0.7894143091919994,0.71338606911949],"aabb_xy":[[0.062497630456838885,0.781103601577651],[0.2224976313972708,0.7977250168063478]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_19","position":[-0.3372986537207276,0.36099057879068575,0.71338606911949],"aabb_xy":[[-0.39227237575706053,0.30599057922645256],[-0.28232493168439476,0.4159905783549189]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_20","position":[0.4004125618915879,0.6402754564456252,0.71338606911949],"aabb_xy":[[0.3629125617859949,0.6334532945926441],[0.4379125619971808,0.6470976182986063]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_21","position":[0.33447337494090323,-1.7552651247123678,0.71338606911949],"aabb_xy":[[0.29947337504488436,-1.7636393602243077],[0.3694733748369221,-1.746890889200428]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_22","position":[0.13786512730654343,-1.5738306907612702,0.71338606911949],"aabb_xy":[[0.04786512758336924,-1.5969040432964499],[0.2278651270297176,-1.5507573382260902]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_23","position":[0.34004346000156516,1.2691073656499072,0.71338606911949],"aabb_xy":[[0.2850512093660542,1.2141073639065945],[0.39503571063707615,1.32410736739322]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_24","position":[-0.538981512390909,-2.0005713585617295,0.71338606911949],"aabb_xy":[[-0.5939769902115682,-2.055571359995636],[-0.48398603457024947,-1.9455713571278221]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_25","position":[-0.1301045920769548,-1.2812844518693989,0.71338606911949],"aabb_xy":[[-0.17287129895637499,-1.3452844552912013],[-0.0873378851975346,-1.2172844484475964]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_26","position":[-0.15440615040099925,-0.7599202565915677,0.71338606911949],"aabb_xy":[[-0.16956902337793633,-0.7750857138866866],[-0.13924327742406217,-0.7447547992964489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6957339585366346,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9015.png","name":"9015"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9015.png","name":"9015"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5862.png","name":"5862"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1802.png","name":"1802"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6529.png","name":"6529"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3373.png","name":"3373"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":631.3029645047384,"rotation_z_degrees":227.66116076812762,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0019713611559483736,-0.011004519515355917,0.007909301990798354]},{"name":"camera_2","offset_m":[0.0016510817572105152,0.006070645178236682,-0.0032766923699327558]},{"name":"camera_3","offset_m":[0.016747403935239064,-0.0068655958620089524,-0.014298930315961175]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.000774609826843221,2.716593479720449e-05,0.0004130022347142207],"end_effector_yaw_offset_degrees":-0.08792322148612519},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0015080271539804238,-0.0016216647842412692,-0.00036477565436925205],"end_effector_yaw_offset_degrees":0.040497908668191585},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0018323645991247179,-0.0019603059009488423,-0.0014742699503032491],"end_effector_yaw_offset_degrees":0.02235703899264374},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001613084032969835,-0.0013688597778977298,0.0004454609366055821],"end_effector_yaw_offset_degrees":-0.2740927695811548},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00046660048963867093,0.00035071628957603724,-0.0010254725120507277],"end_effector_yaw_offset_degrees":0.10227797360892188},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004689591814967394,0.0005241196242718677,0.001237921157356952],"end_effector_yaw_offset_degrees":-0.15353727472684775}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00392736735768866,0.004153301966940976],"position_m":[0.3239273673576887,0.357253301966941,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019259423618984105,-0.0036426624701682868],"position_m":[0.1819259423618984,-0.03724266247016828,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013979102794564524,0.004532726653878302],"position_m":[0.27060208972054356,-0.3627672733461217,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004993435529931862,0.002403243372534858],"position_m":[0.33350656447006816,0.11090324337253486,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fc2c132ff118a6e417505eb2d46691fafe6b51632dd2749ecc19473e08d75e4a","episode_index":52,"episode_name":"episode_0052"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0052.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_9015/tex_ceiling_textures_3373/tex_floor_textures_6529/tex_table_textures_5862/tex_wall_textures_1802","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5713410064641142993,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5713410064641142993,"visual_seed":5713410064641142993,"scene_id":"lab_003","finished_at":"2026-09-06T16:31:50"} +{"episode_id":"ep_000053","started_at":"2026-09-06T16:31:56","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_0","position":[0.45409247451631196,-2.4321968727397647,0.71338606911949],"aabb_xy":[[0.40461205330235317,-2.4961968706526165],[0.5035728957302708,-2.368196874826913]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_1","position":[-0.1944013090706176,-1.531350834867917,0.71338606911949],"aabb_xy":[[-0.2744013062301929,-1.5428984358257338],[-0.11440131191104227,-1.5198032339100997]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.20334269786007092,-1.0223309905232019,0.71338606911949],"aabb_xy":[[-0.2142484739476336,-1.1023309869220308],[-0.19243692177250818,-0.9423309941243725]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_3","position":[0.2626709357982515,1.1957130113432273,0.71338606911949],"aabb_xy":[[0.24238663307485273,1.1754303862005182],[0.2829552385216502,1.215995636485936]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_4","position":[0.289918932370152,-1.3574428802847498,0.71338606911949],"aabb_xy":[[0.22591893594283013,-1.4046125041068465],[0.35391892879747394,-1.3102732564626536]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_5","position":[0.48865196169535685,-0.4102627048072809,0.71338606911949],"aabb_xy":[[0.48401684654312344,-0.41413003988442953],[0.49328707684759016,-0.40639536973013224]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_6","position":[0.2634722209524831,-1.7671394937711504,0.71338606911949],"aabb_xy":[[0.19847221984653984,-1.7921048668392787],[0.3284722220584264,-1.7421741207030221]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_7","position":[0.14251040319032537,1.2053911696585513,0.71338606911949],"aabb_xy":[[0.10501040239832993,1.1990233287003609],[0.18001040398232082,1.2117590106167413]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_8","position":[0.17125363619623335,1.7693749805010426,0.71338606911949],"aabb_xy":[[0.1624515808872606,1.7615636543461133],[0.18005569150520603,1.7771863066559714]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[-0.3762360037326161,-0.2282232424823194,0.71338606911949],"aabb_xy":[[-0.39229793119113376,-0.31322324429491116],[-0.3601740762740985,-0.14322324066972755]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_10","position":[0.5872727663340047,-2.064711746861435,0.71338606911949],"aabb_xy":[[0.5690669426727569,-2.075737147443427],[0.6054785899952523,-2.0536863462794437]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_11","position":[0.19973172512488402,1.3964321797475137,0.71338606911949],"aabb_xy":[[0.17967331351164376,1.3763670928383562],[0.21979013673812434,1.416497266656671]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.41074663591698135,-1.628013334266138,0.71338606911949],"aabb_xy":[[0.3257466372249067,-1.6599991976610167],[0.495746634609056,-1.596027470871259]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_13","position":[0.4313202147881361,1.4857660035478966,0.71338606911949],"aabb_xy":[[0.3663202137876356,1.4349796383932216],[0.4963202157886366,1.5365523687025715]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_14","position":[-0.48651067290947314,0.608610308091162,0.71338606911949],"aabb_xy":[[-0.5505106745874704,0.5600929166118477],[-0.42251067123147573,0.6571276995704761]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_15","position":[0.6454247513747773,-0.47908500228677564,0.71338606911949],"aabb_xy":[[0.6209111272777714,-0.5033495955888121],[0.6699383754717831,-0.45482040898473924]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_16","position":[-0.45774050473027295,-1.7179902466905794,0.71338606911949],"aabb_xy":[[-0.4863898370906891,-1.746635805967655],[-0.42909117236985667,-1.6893446874135034]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_17","position":[-0.19392543396903128,1.6274560300275787,0.71338606911949],"aabb_xy":[[-0.19996244696969603,1.6214293289586306],[-0.18788842096836658,1.6334827310965268]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_18","position":[-0.37402287072984297,-1.1565431127909938,0.71338606911949],"aabb_xy":[[-0.42401598283903497,-1.2065431134651896],[-0.32402975862065114,-1.1065431121167983]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_19","position":[-0.127187370698029,-1.2824723040262571,0.71338606911949],"aabb_xy":[[-0.13530102537140606,-1.290578120480286],[-0.11907371602465186,-1.2743664875722278]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_20","position":[-0.3161249963266689,-0.5777304775052219,0.71338606911949],"aabb_xy":[[-0.32404827656541724,-0.6002304777432252],[-0.3082017160879206,-0.5552304772672185]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_21","position":[-0.34241343678414815,-0.7440745795811976,0.71338606911949],"aabb_xy":[[-0.361525744142127,-0.7632093584584395],[-0.3233011294261693,-0.7249398007039555]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_22","position":[-0.29628684474744027,0.6717885120032236,0.71338606911949],"aabb_xy":[[-0.33730478813381115,0.6217885113722662],[-0.2552689013610694,0.7217885126341809]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_23","position":[-0.25160273308351266,-1.9091651773701086,0.71338606911949],"aabb_xy":[[-0.25573858941621286,-1.9466651768144656],[-0.24746687675081247,-1.8716651779257516]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_24","position":[-0.35758248367055456,0.24056482127969758,0.71338606911949],"aabb_xy":[[-0.42758248630714085,0.22045995628383208],[-0.28758248103396816,0.2606696862755631]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_25","position":[-0.08972091600664034,1.4598938387479587,0.71338606911949],"aabb_xy":[[-0.13489223385480933,1.3958938416034203],[-0.04454959815847138,1.5238938358924974]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_26","position":[0.40677068769415414,-2.0616432333759462,0.71338606911949],"aabb_xy":[[0.34277068440444597,-2.104978152379864],[0.4707706909838622,-2.0183083143720286]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697605533623696,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5018.png","name":"5018"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5018.png","name":"5018"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5392.png","name":"5392"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5917.png","name":"5917"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/127.png","name":"127"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7497.png","name":"7497"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":783.9267969249672,"rotation_z_degrees":60.56025538634165,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.015741803348252027,-0.0159944301119019,0.010829550087304334]},{"name":"camera_2","offset_m":[0.018282034489562404,-0.008442194675691654,0.009377643158305426]},{"name":"camera_3","offset_m":[0.0009540462806389843,-0.006026560710943181,0.0024624371973612433]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008089528793023151,0.0013089628687262796,-0.00019468371267334869],"end_effector_yaw_offset_degrees":0.9709089442519263},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012992238429478577,0.0008056054092160192,0.0002105223727795211],"end_effector_yaw_offset_degrees":0.451547029615061},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016152944426265172,0.0013309738267122473,-0.00013336915791491242],"end_effector_yaw_offset_degrees":0.2463280598558113},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001401874558142507,0.0007616261226437364,0.0003177032509082199],"end_effector_yaw_offset_degrees":0.3351897022985548},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00027094848026380444,0.0010041275383465302,0.0005847960458186356],"end_effector_yaw_offset_degrees":0.36707631249867045},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001324808666483096,0.00026372299393943475,0.0015882048699098457],"end_effector_yaw_offset_degrees":-0.5726471610268122}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003917424517366856,-0.004918620453595008],"position_m":[0.3239174245173669,0.348181379546405,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.001062279978464191,-0.004051577824457484],"position_m":[0.1789377200215358,-0.03765157782445748,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002713249644183616,-0.0011667703799244779],"position_m":[0.2692867503558164,-0.3684667703799245,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0046731012017767375,0.0012494778499226996],"position_m":[0.3338268987982233,0.1097494778499227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"19bcdeb52719b717116fe0565ee8366be2be2e8ae3caa6ca0d8836664bc4396b","episode_index":53,"episode_name":"episode_0053"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0053.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_5018/tex_ceiling_textures_7497/tex_floor_textures_127/tex_table_textures_5392/tex_wall_textures_5917","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1838380536748337549,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1838380536748337549,"visual_seed":1838380536748337549,"scene_id":"lab_003","finished_at":"2026-09-06T16:38:34"} +{"episode_id":"ep_000054","started_at":"2026-09-06T16:38:41","dimensions":{"distractor":{"count":32,"items":[{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_0","position":[0.496030958810604,0.3221280358415175,0.71338606911949],"aabb_xy":[[0.458530958638732,0.28942730045861026],[0.5335309589824759,0.35482877122442463]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_1","position":[-0.39265621024602604,-1.9056529304055418,0.71338606911949],"aabb_xy":[[-0.42711868825911375,-1.9123166075884643],[-0.3581937322329382,-1.898989253222619]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.6668586010297916,-0.201058035270119,0.71338606911949],"aabb_xy":[[-0.6762056086120868,-0.21536165748776304],[-0.6575115934474963,-0.18675441305247498]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_3","position":[-0.3313594452305838,0.95548013452051,0.71338606911949],"aabb_xy":[[-0.3542751581156337,0.9325758373840867],[-0.3084437323455339,0.9783844316569337]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_4","position":[0.3329308916258893,-0.7710191934260839,0.71338606911949],"aabb_xy":[[0.2689308899478919,-0.8195365849053982],[0.3969308933038866,-0.7225018019467697]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.37632702957327696,0.04628099277159148,0.71338606911949],"aabb_xy":[[-0.39097043512730995,0.03162227311480719],[-0.361683624019244,0.06093971242837575]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_6","position":[0.4966281653971689,0.5226791612672743,0.71338606911949],"aabb_xy":[[0.4591281648998107,0.5187104777191559],[0.5341281658945272,0.5266478448153927]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_7","position":[0.5788810521553165,-0.05298961536153479,0.71338606911949],"aabb_xy":[[0.5588226405420762,-0.07305470227069233],[0.5989394637685568,-0.032924528452377255]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_8","position":[-0.5094007824585174,0.1277272122119899,0.71338606911949],"aabb_xy":[[-0.5594007820348522,0.07774663325988396],[-0.4594007828821828,0.17770779116409585]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_9","position":[-0.23338228687895196,-1.0288843000981038,0.71338606911949],"aabb_xy":[[-0.27041639630701164,-1.0632615074318132],[-0.19634817745089223,-0.9945070927643944]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_10","position":[0.21681431211189128,1.2134635174016464,0.71338606911949],"aabb_xy":[[0.18333514485085034,1.1799844040305394],[0.2502934793729322,1.2469426307727534]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_11","position":[0.6971067346085373,-2.3835826136603258,0.71338606911949],"aabb_xy":[[0.6878131163713868,-2.4210826121484597],[0.7064003528456879,-2.346082615172192]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_12","position":[0.4948730166415578,-2.1552683381108237,0.71338606911949],"aabb_xy":[[0.457373018065937,-2.1680046337743817],[0.5323730152171786,-2.142532042447266]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_13","position":[0.7161978672599068,-0.5254186421463065,0.71338606911949],"aabb_xy":[[0.7113542724986769,-0.5302702946252907],[0.7210414620211368,-0.5205669896673225]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_14","position":[-0.513361477532095,-1.0677674847093852,0.71338606911949],"aabb_xy":[[-0.6033614798661141,-1.1452498392944979],[-0.423361475198076,-0.9902851301242726]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_15","position":[0.620536030695312,-1.379923041027054,0.71338606911949],"aabb_xy":[[0.5705530805078326,-1.4299230406696142],[0.6705189808827913,-1.3299230413844934]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_16","position":[0.6626673394922513,1.3829047643466583,0.71338606911949],"aabb_xy":[[0.6510983587453149,1.3579047642297268],[0.674236320239188,1.4079047644635903]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_17","position":[-0.5767716639210704,-1.8753838326278602,0.71338606911949],"aabb_xy":[[-0.640771664298604,-1.9251290994786725],[-0.5127716635435368,-1.825638565777048]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_18","position":[0.05948407444510062,-1.2584914529693432,0.71338606911949],"aabb_xy":[[0.05484895929286722,-1.2623587880464915],[0.06411918959733398,-1.254624117892194]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[-0.575833079643893,-2.1745013071679096,0.71338606911949],"aabb_xy":[[-0.5840476247595768,-2.18317789746555],[-0.5676185345282089,-2.1658247168702673]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_20","position":[-0.1431311685779202,-2.146897076552729,0.71338606911949],"aabb_xy":[[-0.17361541870495034,-2.196897076334225],[-0.11264691845089003,-2.096897076771233]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_21","position":[-0.1628278625057824,0.90253662795367,0.71338606911949],"aabb_xy":[[-0.16986931345652997,0.8955098762158753],[-0.15578641155503478,0.9095633796914644]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_22","position":[0.29493749129936675,-2.35586178258383,0.71338606911949],"aabb_xy":[[0.2309374880096586,-2.3991967015877473],[0.3589374945890748,-2.312526863579912]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_23","position":[0.15208509414965632,1.5079381732882209,0.71338606911949],"aabb_xy":[[0.11749401129561109,1.4429381730031896],[0.1866761770037015,1.5729381735732517]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_24","position":[0.2509899411043901,0.80705165208406,0.71338606911949],"aabb_xy":[[0.20997199771801922,0.7570516514531027],[0.292007884490761,0.8570516527150174]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_25","position":[-0.30180197351712923,1.6643920901641258,0.71338606911949],"aabb_xy":[[-0.32397450049378,1.6422164230080025],[-0.27962944654047833,1.6865677573202487]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[-0.3094708046409407,1.3842353763369628,0.71338606911949],"aabb_xy":[[-0.3594700798093769,1.3342353750610156],[-0.25947152947250457,1.43423537761291]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_27","position":[-0.43599287723927,0.592513838460984,0.71338606911949],"aabb_xy":[[-0.4999928745249186,0.5510071195081401],[-0.3719928799536213,0.634020557413828]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.12075789975668505,0.5986940307260431,0.71338606911949],"aabb_xy":[[-0.13843353034528333,0.5810138144466404],[-0.10308226916808669,0.6163742470054459]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_29","position":[-0.39490195633433167,-1.4990665137467523,0.71338606911949],"aabb_xy":[[-0.46490195897091796,-1.5191713787426173],[-0.32490195369774527,-1.4789616487508863]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_30","position":[-0.3021890294261596,-2.237880808409084,0.71338606911949],"aabb_xy":[[-0.3130295076526745,-2.255067089699733],[-0.2913485511996447,-2.2206945271184355]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_31","position":[-0.4902528358158848,-0.7145023764293241,0.71338606911949],"aabb_xy":[[-0.5121425834048255,-0.8045023737185732],[-0.46836308822694395,-0.624502379140075]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6977737674916341,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3512.png","name":"3512"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3512.png","name":"3512"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5620.png","name":"5620"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2712.png","name":"2712"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/80.png","name":"80"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2572.png","name":"2572"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":801.1312803706819,"rotation_z_degrees":217.7088249946589,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0027331430904167855,-0.003652375602034342,-0.010916641420630535]},{"name":"camera_2","offset_m":[-0.017406653670528884,0.0016568335121233957,-0.007571607539969265]},{"name":"camera_3","offset_m":[0.013925847414118741,-0.004091260278900291,-0.004651419096548169]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009120194880772882,0.0015394231247718854,-0.0013894943313236734],"end_effector_yaw_offset_degrees":0.9657268907754009},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0008861171370140157,-0.001441680184901702,0.001034514964731309],"end_effector_yaw_offset_degrees":0.2793406979470008},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007112629416781775,-0.0002365456298268876,-0.00010583016736251459],"end_effector_yaw_offset_degrees":0.6235613843332077},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0005618674946909917,-1.5046377595191989e-05,0.0008459100669403184],"end_effector_yaw_offset_degrees":-0.5624576685675968},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018868684035763614,0.0009488579032236569,-0.0018447054291445188],"end_effector_yaw_offset_degrees":0.3493970204273147},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00023765966148582302,0.0007360265920008796,0.0008034544127540895],"end_effector_yaw_offset_degrees":-0.8761715376982508}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003603010743672996,-0.0002890692187949642],"position_m":[0.323603010743673,0.35281093078120507,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0028831197803647407,-0.0005232773175968489],"position_m":[0.18288311978036473,-0.034123277317596845,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00012244973393723234,0.0031090107849948935],"position_m":[0.27212244973393723,-0.36419098921500515,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003935701534275541,-0.0005567455498713602],"position_m":[0.3345642984657245,0.10794325445012865,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e8a3820f56e437ee679839999e318a7b4ac65945ee0316f1eae817e69d78ae39","episode_index":54,"episode_name":"episode_0054"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0054.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3512/tex_ceiling_textures_2572/tex_floor_textures_80/tex_table_textures_5620/tex_wall_textures_2712","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4112873683040826737,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4112873683040826737,"visual_seed":4112873683040826737,"scene_id":"lab_003","finished_at":"2026-09-06T16:45:16"} +{"episode_id":"ep_000055","started_at":"2026-09-06T16:45:22","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_0","position":[-0.06911228457210017,1.4589766091462129,0.71338606911949],"aabb_xy":[[-0.07782625362203463,1.4364766084870242],[-0.06039831552216566,1.4814766098054006]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_1","position":[-0.061966158449834885,0.4379757209924957,0.71338606911949],"aabb_xy":[[-0.11184885532753111,0.387975721746221],[-0.012083461572138684,0.4879757202387705]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_2","position":[-0.007645928723809203,-1.829583550038792,0.71338606911949],"aabb_xy":[[-0.01310387436082927,-1.909583553346451],[-0.002187983086789135,-1.7495835467311327]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_3","position":[0.4541035840928793,1.5592204442859,0.71338606911949],"aabb_xy":[[0.43160444836665235,1.536720443507637],[0.4766027198191063,1.5817204450641629]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_4","position":[-0.1073872143197041,-1.8149213127296915,0.71338606911949],"aabb_xy":[[-0.14488721461187892,-1.818962788130295],[-0.06988721402752927,-1.810879837329088]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.5102088957736894,-1.8105198485826395,0.71338606911949],"aabb_xy":[[-0.5276396108526958,-1.82779196324649],[-0.4927781806946829,-1.7932477339187884]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_6","position":[-0.5585758593070973,0.7391612304624928,0.71338606911949],"aabb_xy":[[-0.5960758577304975,0.7259970164946621],[-0.5210758608836968,0.7523254444303233]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_7","position":[0.5336271350858359,1.6857999046779262,0.71338606911949],"aabb_xy":[[0.508627135153318,1.6789172364570033],[0.5586271350183538,1.69268257289885]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_8","position":[-0.5500873795519291,-0.09264151530689269,0.71338606911949],"aabb_xy":[[-0.5725873793658315,-0.09711613167737337],[-0.5275873797380267,-0.088166898936412]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[0.573065719367249,-1.8598502568226876,0.71338606911949],"aabb_xy":[[0.5030657167306626,-1.8799551218185528],[0.6430657220038353,-1.8397453918268218]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_10","position":[-0.45532611259888145,-0.9335706319221206,0.71338606911949],"aabb_xy":[[-0.47824182548393146,-0.9564749290585443],[-0.43241039971383166,-0.9106663347856973]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_11","position":[-0.4196379565506597,-2.060397580345906,0.71338606911949],"aabb_xy":[[-0.47963795819358157,-2.1123977296378507],[-0.35963795490773787,-2.0083974310539623]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_12","position":[0.13568877395580092,0.6695520905550563,0.71338606911949],"aabb_xy":[[0.09818877413876734,0.6649138792439145],[0.17318877377283445,0.6741903018661982]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_13","position":[0.13247416853508232,-2.3381755553381924,0.71338606911949],"aabb_xy":[[0.10747416926312005,-2.3545209189343543],[0.1574741678070446,-2.3218301917420296]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_14","position":[0.10604369846917516,-1.973559610311305,0.71338606911949],"aabb_xy":[[0.04204369517946704,-2.0168945293152216],[0.17004370175888325,-1.9302246913073868]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[-0.42505884166174,-1.598888024990564,0.71338606911949],"aabb_xy":[[-0.4291946979944402,-1.636388024434921],[-0.4209229853290398,-1.561388025546207]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_16","position":[0.3663534378126492,1.7266757908478687,0.71338606911949],"aabb_xy":[[0.3211821199644802,1.6626757937033307],[0.4115247556608182,1.7906757879924076]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_17","position":[0.6883998144361294,-0.6953292421678172,0.71338606911949],"aabb_xy":[[0.6778323347780304,-0.7058742722808257],[0.6989672940942284,-0.6847842120548085]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_18","position":[-0.4688225291395323,1.3670323517489726,0.71338606911949],"aabb_xy":[[-0.5063225303243251,1.362614129052912],[-0.4313225279547395,1.371450574445033]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_19","position":[0.5161694981014486,-0.9402774876652611,0.71338606911949],"aabb_xy":[[0.5001075706429309,-1.025277489477853],[0.5322314255599662,-0.8552774858526693]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_20","position":[-0.23047300625970996,0.42446524730982294,0.71338606911949],"aabb_xy":[[-0.2529730057834173,0.40196929985920204],[-0.20797300673600255,0.4469611947604436]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_21","position":[0.17038548972238354,1.4942570914184974,0.71338606911949],"aabb_xy":[[0.1328854895505116,1.46155635603559],[0.20788548989425548,1.5269578268014043]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_22","position":[0.09312011567657796,-2.4526735821579804,0.71338606911949],"aabb_xy":[[0.029120115299044347,-2.502418849008792],[0.15712011605411158,-2.4029283153071677]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_23","position":[0.29671135882433286,1.5601693233322638,0.71338606911949],"aabb_xy":[[0.28801339653361757,1.5480443490247893],[0.30540932111504815,1.5722942976397387]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_24","position":[-0.39159223082785255,1.6041091935866443,0.71338606911949],"aabb_xy":[[-0.4555922281135012,1.5626024746338003],[-0.3275922335422039,1.6456159125394882]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_25","position":[-0.49950816302242307,-0.5640660131929418,0.71338606911949],"aabb_xy":[[-0.563508165072155,-0.6041604962822498],[-0.435508160972691,-0.5239715301036338]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[-0.14244108067915062,-0.8071196383888428,0.71338606911949],"aabb_xy":[[-0.1591182166722461,-0.8238195623627732],[-0.1257639446860551,-0.7904197144149127]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_27","position":[-0.1641151935691606,-2.54359683739744,0.71338606911949],"aabb_xy":[[-0.1681933514762103,-2.5476778176457033],[-0.16003703566211083,-2.5395158571491763]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995118790219977,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2035.png","name":"2035"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2035.png","name":"2035"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2938.png","name":"2938"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6244.png","name":"6244"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/835.png","name":"835"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6466.png","name":"6466"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":657.2946824614567,"rotation_z_degrees":51.92659761608682,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01085493213911437,0.001914099877752054,0.009973062024171486]},{"name":"camera_2","offset_m":[0.011409816651549772,-0.014948866561358395,0.004215811171748119]},{"name":"camera_3","offset_m":[0.01640771465703376,-0.016206671220492314,-0.010122825677113268]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005117927989202005,-0.0005384922137448482,-0.0014564200383546991],"end_effector_yaw_offset_degrees":-0.18546904197818015},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0014679006814195608,-0.0016882310864355424,-0.0019896343378260936],"end_effector_yaw_offset_degrees":-0.8121817120259756},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0006073221118934407,-0.0015036880508106296,-0.00042641512066014364],"end_effector_yaw_offset_degrees":-0.524142030549684},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006508801318578093,-0.0003043652768189959,-7.795258624687792e-05],"end_effector_yaw_offset_degrees":-0.9841890026362998},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012285043205451833,0.001362688813478028,0.0016812011486501259],"end_effector_yaw_offset_degrees":-0.19020225326195406},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007878611978699534,0.0006345404367941905,-0.00032465198006634884],"end_effector_yaw_offset_degrees":-0.5040609296218379}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004709389778785863,0.0006656602579997424],"position_m":[0.3247093897787859,0.35376566025799977,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0021810903080893406,0.004509532147641622],"position_m":[0.18218109030808932,-0.029090467852358377,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0021351951049959315,0.003069655644468366],"position_m":[0.27413519510499595,-0.36423034435553164,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0007704242022983747,-0.0034739380264750697],"position_m":[0.3392704242022984,0.10502606197352493,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"94dba22b80e25c8c622c3572cc9fbd3493803a6fa5660f48137318c8bd72af23","episode_index":55,"episode_name":"episode_0055"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0055.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_2035/tex_ceiling_textures_6466/tex_floor_textures_835/tex_table_textures_2938/tex_wall_textures_6244","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6210747227203563244,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6210747227203563244,"visual_seed":6210747227203563244,"scene_id":"lab_003","finished_at":"2026-09-06T16:51:39"} +{"episode_id":"ep_000056","started_at":"2026-09-06T16:51:47","dimensions":{"distractor":{"count":28,"items":[{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_0","position":[-0.46377838038268265,1.4032647937683125,0.71338606911949],"aabb_xy":[[-0.5277783807602163,1.3535195269175002],[-0.399778380005149,1.4530100606191247]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_1","position":[0.17378016463055557,-1.3255277386755464,0.71338606911949],"aabb_xy":[[0.10878016352461228,-1.3504931117436747],[0.23878016573649885,-1.3005623656074181]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_2","position":[-0.20910125391323686,-1.6745963563943067,0.71338606911949],"aabb_xy":[[-0.24341753108785483,-1.7245963563674844],[-0.17478497673861895,-1.624596356421129]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_3","position":[-0.11088791201014414,-1.8483492806529997,0.71338606911949],"aabb_xy":[[-0.17588791464793763,-1.8998288793524467],[-0.045887909372350655,-1.7968696819535528]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_4","position":[-0.09761627180220833,1.6944200542045453,0.71338606911949],"aabb_xy":[[-0.14758933733472382,1.6444200543920129],[-0.047643206269692887,1.7444200540170787]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.25613208406237514,-2.4994229596742903,0.71338606911949],"aabb_xy":[[-0.2713042533440085,-2.5145918166024934],[-0.2409599147807418,-2.484254102746087]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.42342397239277285,-0.2546860363049417,0.71338606911949],"aabb_xy":[[0.41572078171869575,-0.26239540700367964],[0.43112716306684984,-0.24697666560620363]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_7","position":[-0.15057893199971084,1.1979213528690318,0.71338606911949],"aabb_xy":[[-0.16946331576822105,1.1790354280886792],[-0.13169454823120064,1.2168072776493848]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_8","position":[0.41424417505258715,-1.1101223989317983,0.71338606911949],"aabb_xy":[[0.35024417794048146,-1.159154768726209],[0.47824417216469284,-1.0610900291373877]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[0.04501440510333188,1.5217685412544708,0.71338606911949],"aabb_xy":[[-0.018985597239469677,1.4768276900103383],[0.10901440744613344,1.5667093924986033]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_10","position":[0.6192543452793782,-1.9108000078474534,0.71338606911949],"aabb_xy":[[0.6127527087713736,-1.9205678298737636],[0.6257559817873828,-1.901032185821144]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_11","position":[-0.3980910140934182,-0.5842319035837344,0.71338606911949],"aabb_xy":[[-0.4325533614915599,-0.618725785981557],[-0.36362866669527627,-0.5497380211859116]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_12","position":[0.0094235498126517,-2.131164506804784,0.71338606911949],"aabb_xy":[[-0.05457644877392076,-2.1781714702042927],[0.07342354839922416,-2.0841575434052753]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_13","position":[-0.00565816746561687,-2.3145076839688525,0.71338606911949],"aabb_xy":[[-0.029243290929511723,-2.3795076862142843],[0.017926955998277982,-2.2495076817234207]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_14","position":[-0.2867515879384987,-2.3742575966228148,0.71338606911949],"aabb_xy":[[-0.294879276131812,-2.3831712050335225],[-0.27862389974518553,-2.365343988212107]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_15","position":[0.6024153710692393,-1.5194485422924884,0.71338606911949],"aabb_xy":[[0.5846218641343228,-1.537248287888286],[0.6202088780041557,-1.5016487966966907]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.26900781703405907,-1.648166938368362,0.71338606911949],"aabb_xy":[[0.26509394383863655,-1.6569159537749187],[0.2729216902294816,-1.639417922961805]]},{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_17","position":[-0.48566200385880665,0.35281824791004723,0.71338606911949],"aabb_xy":[[-0.5081620038689549,0.3387220282704439],[-0.46316200384865835,0.36691446754965046]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_18","position":[-0.06512968509325034,1.3416784447075742,0.71338606911949],"aabb_xy":[[-0.14512968616637067,1.3319003983701898],[0.014870315979869986,1.3514564910449587]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_19","position":[-0.18790827484386274,0.4460095554604866,0.71338606911949],"aabb_xy":[[-0.20558390543246105,0.42832933918108385],[-0.17023264425526438,0.46368977173988934]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_20","position":[-0.06268335012872273,-2.5465925039284234,0.71338606911949],"aabb_xy":[[-0.14268335339273586,-2.5601525362373367],[0.017316653135290405,-2.53303247161951]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_21","position":[-0.31704217967388193,-0.13176673569874087,0.71338606911949],"aabb_xy":[[-0.39704217994748886,-0.2047162835244576],[-0.23704217940027492,-0.05881718787302417]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[0.021478964602000272,0.9403796514461793,0.71338606911949],"aabb_xy":[[-0.03351328603351068,0.8853796497028666],[0.07647121523751123,0.9953796531894922]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_23","position":[-0.2957923280138819,-1.867134271275023,0.71338606911949],"aabb_xy":[[-0.33008923903162246,-1.9014311574849638],[-0.2614954169961412,-1.8328373850650812]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_24","position":[0.45479253004094455,1.3553397076120186,0.71338606911949],"aabb_xy":[[0.44232517193120896,1.342874382978695],[0.46725988815068026,1.3678050322453421]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_25","position":[0.6132937114483097,0.5975595498047723,0.71338606911949],"aabb_xy":[[0.5634110145706135,0.5475595505584977],[0.6631764083260059,0.6475595490510472]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_26","position":[-0.17664708812271812,-1.1573434108296659,0.71338606911949],"aabb_xy":[[-0.18789214369333593,-1.168585208553761],[-0.16540203255210026,-1.1461016131055703]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_27","position":[-0.5379921226972284,-2.219994956064447,0.71338606911949],"aabb_xy":[[-0.5691390415408115,-2.289994954751254],[-0.5068452038536453,-2.14999495737764]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7023093328023912,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8720.png","name":"8720"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8720.png","name":"8720"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9003.png","name":"9003"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5100.png","name":"5100"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3343.png","name":"3343"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1639.png","name":"1639"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":507.33644439022027,"rotation_z_degrees":250.97131751480416,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005218479318836953,-0.01027632428679667,0.017197175282787403]},{"name":"camera_2","offset_m":[-0.01635793523568385,-0.019714260044569505,0.006616821432722807]},{"name":"camera_3","offset_m":[-0.00973424441078731,-0.013394440142587425,0.0022431770966141636]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[5.1332464950885805e-05,2.3397703956308264e-05,0.0004522636520935203],"end_effector_yaw_offset_degrees":-0.6514873878466405},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0008974524969974208,-0.0014568670527263343,0.00014432384214900854],"end_effector_yaw_offset_degrees":-0.28365578751789133},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007822832080879429,-0.001241531311215812,0.0016688152467110302],"end_effector_yaw_offset_degrees":-0.44543884449775395},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011998860510380252,0.0008300178752799962,0.00015745829130830741],"end_effector_yaw_offset_degrees":0.532278799065345},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00017808818088860387,0.00017505829471799964,0.000640328764603995],"end_effector_yaw_offset_degrees":0.5832922084528189},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000618337990380375,0.00027556600248660693,-0.0015926906483007236],"end_effector_yaw_offset_degrees":0.2938662351056358}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016133574145426053,0.003651085686513911],"position_m":[0.3216133574145426,0.3567510856865139,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0029436317125108,-0.0034740100442397018],"position_m":[0.1829436317125108,-0.0370740100442397,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0033068498648384766,-0.0003743444298562005],"position_m":[0.2753068498648385,-0.3676743444298562,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017918276544242277,-0.0029190457889069444],"position_m":[0.34029182765442423,0.10558095421109305,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2862b666e4469c1aa231da7de72b746c84d3063a057bf2c5cb243c048c2c428a","episode_index":56,"episode_name":"episode_0056"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0056.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_8720/tex_ceiling_textures_1639/tex_floor_textures_3343/tex_table_textures_9003/tex_wall_textures_5100","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6555069050600693744,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6555069050600693744,"visual_seed":6555069050600693744,"scene_id":"lab_003","finished_at":"2026-09-06T16:58:29"} +{"episode_id":"ep_000057","started_at":"2026-09-06T16:58:35","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_0","position":[0.19046612974835087,-0.7288729406347818,0.71338606911949],"aabb_xy":[[0.1785333953865228,-0.7412550934426412],[0.20239886411017893,-0.7164907878269224]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_1","position":[-0.4650000172459692,-2.067758011108836,0.71338606911949],"aabb_xy":[[-0.4722437832922145,-2.1477580093124384],[-0.45775625119972385,-1.9877580129052337]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_2","position":[-0.5868542858178967,-1.9246994825402646,0.71338606911949],"aabb_xy":[[-0.6768542844123666,-1.9409500688536854],[-0.4968542872234267,-1.9084488962268433]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_3","position":[0.19875369121177344,-2.0776347626299465,0.71338606911949],"aabb_xy":[[0.18940668362947824,-2.0919383848475905],[0.2081006987940687,-2.0633311404123025]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_4","position":[0.60120857332544,1.2157477440655327,0.71338606911949],"aabb_xy":[[0.531208569933878,1.1804319703621016],[0.671208576717002,1.2510635177689633]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_5","position":[0.19695122605461957,0.9539039984018998,0.71338606911949],"aabb_xy":[[0.13536046683062675,0.8899040002928531],[0.2585419852786124,1.0179039965109469]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_6","position":[0.07136856179795181,1.4526403804051022,0.71338606911949],"aabb_xy":[[0.021368560514111828,1.4026615260144797],[0.12136856308179175,1.502619234795724]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_7","position":[0.5209519036492714,0.016318337985264275,0.71338606911949],"aabb_xy":[[0.4984519041255638,-0.006177609465356503],[0.5434519031729785,0.03881428543588505]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_8","position":[-0.3092947830541936,-1.4025280398730573,0.71338606911949],"aabb_xy":[[-0.3942947814716169,-1.4874023353353423],[-0.22429478463677044,-1.3176537444107723]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_9","position":[0.29748722039779396,-2.2548775959874896,0.71338606911949],"aabb_xy":[[0.2919055487636652,-2.2673775958052653],[0.3030688920319227,-2.242377596169714]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_10","position":[-0.30898183873635426,-0.6828839047453683,0.71338606911949],"aabb_xy":[[-0.36898183933237044,-0.7376963772905919],[-0.24898183814033809,-0.6280714322001449]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_11","position":[0.542085371409667,-1.8286940048646505,0.71338606911949],"aabb_xy":[[0.4780853694973246,-1.8846051541226612],[0.6060853733220093,-1.7727828556066403]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_12","position":[-0.15612179603109144,-1.1117023007026015,0.71338606911949],"aabb_xy":[[-0.20392796364486004,-1.1767023034096602],[-0.10831562841732276,-1.0467022979955423]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_13","position":[-0.40983671250848375,1.070645668963686,0.71338606911949],"aabb_xy":[[-0.45696609151031936,1.0066456679192837],[-0.362707333506648,1.1346456700080876]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_14","position":[0.6371133214127727,0.6392581656179188,0.71338606911949],"aabb_xy":[[0.6036731462167528,0.6058145397869886],[0.670553496608792,0.6727017914488488]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_15","position":[0.6260521250065392,0.8288667538473677,0.71338606911949],"aabb_xy":[[0.617924436813226,0.8199531454366602],[0.6341798131998524,0.8377803622580755]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_16","position":[-0.06106432439924847,-0.9812667665723149,0.71338606911949],"aabb_xy":[[-0.07429526993392975,-0.994494185594314],[-0.047833378864567164,-0.9680393475503152]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_17","position":[-0.08176165692743786,-2.108975396249261,0.71338606911949],"aabb_xy":[[-0.1317616585889326,-2.1589738385049633],[-0.031761655265943094,-2.058976953993558]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_18","position":[0.06069208915443791,-2.02846463008062,0.71338606911949],"aabb_xy":[[0.03569208998880479,-2.0354168757859767],[0.08569208832007102,-2.0215123843752636]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_19","position":[0.4801161328489836,-1.9647903328876268,0.71338606911949],"aabb_xy":[[0.4724129421749065,-1.9724997035863645],[0.48781932352306057,-1.9570809621888887]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_20","position":[-0.24822300002393283,0.5312618355289382,0.71338606911949],"aabb_xy":[[-0.33322299871600747,0.4992759721340594],[-0.1632230013318582,0.5632476989238171]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_21","position":[-0.612433019873377,-2.3839408129175106,0.71338606911949],"aabb_xy":[[-0.6497642963986195,-2.4185938677123633],[-0.5751017433481344,-2.3492877581226588]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_22","position":[-0.5790913292084386,-1.0697743272876012,0.71338606911949],"aabb_xy":[[-0.6243699440895879,-1.133774326635785],[-0.5338127143272894,-1.0057743279394176]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_23","position":[0.1153592498549979,1.7251745116911104,0.71338606911949],"aabb_xy":[[0.05135924763459089,1.6808014275658218],[0.17935925207540493,1.7695475958163984]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.703156166042368,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7897.png","name":"7897"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7664.png","name":"7664"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6572.png","name":"6572"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6576.png","name":"6576"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":581.4492616966819,"rotation_z_degrees":288.2554954925366,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.002078047554785214,0.008968323211308252,0.01740874829594102]},{"name":"camera_2","offset_m":[0.0037800739057147134,-0.013250551527934298,-0.009220942617726742]},{"name":"camera_3","offset_m":[0.0020933718289211367,-0.002231029926890716,0.003915246812453473]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0016497565344947911,0.0019294602035191703,-0.00084440573324328],"end_effector_yaw_offset_degrees":-0.2995217870714759},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001122134040745534,0.0003386224490399309,0.0005886247290440615],"end_effector_yaw_offset_degrees":0.7142935722365156},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001165579151854819,-0.00021572903311204523,-0.0017775967792819244],"end_effector_yaw_offset_degrees":0.14980942342310577},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001010903011860526,0.0017634709048292597,2.0067252329190443e-05],"end_effector_yaw_offset_degrees":0.3024890103264768},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.001058065119035887,-0.0015479286056355947,-0.001800099756059796],"end_effector_yaw_offset_degrees":-0.4212083564169833},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011258276748371187,-0.0015708261735141397,0.0014321966387732046],"end_effector_yaw_offset_degrees":-0.5807979894339981}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004826000243831961,-0.0022865125984262704],"position_m":[0.32482600024383196,0.35081348740157375,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0018694060463616859,-0.0020311516926998507],"position_m":[0.18186940604636168,-0.03563115169269985,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029749287945486274,-0.0025265792769123617],"position_m":[0.27497492879454866,-0.36982657927691237,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00016662553823486477,0.0018042490883159509],"position_m":[0.33833337446176515,0.11030424908831594,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c55d75ea5cb8c37b55e95241efbfa5ba4afae4e1b9a926595934536dc14aa1d3","episode_index":57,"episode_name":"episode_0057"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0057.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_7897/tex_ceiling_textures_6576/tex_floor_textures_6572/tex_table_textures_6427/tex_wall_textures_7664","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7002565674224384234,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7002565674224384234,"visual_seed":7002565674224384234,"scene_id":"lab_003","finished_at":"2026-09-06T17:05:33"} +{"episode_id":"ep_000058","started_at":"2026-09-06T17:05:39","dimensions":{"distractor":{"count":20,"items":[{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_0","position":[0.16948284446441886,1.272578898117286,0.71338606911949],"aabb_xy":[[0.07948284796354708,1.2266672556988278],[0.25948284096529056,1.3184905405357443]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.6648852753206077,-0.8533964796699944,0.71338606911949],"aabb_xy":[[-0.6948528322304334,-0.8833964799678802],[-0.634917718410782,-0.8233964793721087]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_2","position":[0.4070145680634283,0.7789462751507434,0.71338606911949],"aabb_xy":[[0.3999742581298914,0.6989462757510722],[0.4140548779969654,0.8589462745504151]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_3","position":[-0.36183659563063336,0.38032853583693305,0.71338606911949],"aabb_xy":[[-0.3993365958025053,0.34762780045402586],[-0.3243365954587614,0.41302927121984023]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_4","position":[0.12620640309872,-1.2684793311395892,0.71338606911949],"aabb_xy":[[0.11896263705247467,-1.3484793293431916],[0.13345016914496532,-1.1884793329359868]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_5","position":[-0.1528169115999699,-0.645157148890583,0.71338606911949],"aabb_xy":[[-0.16153088064990434,-0.667657149549771],[-0.14410294255003536,-0.6226571482313945]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_6","position":[-0.5162309812982495,1.434567648021193,0.71338606911949],"aabb_xy":[[-0.5762309821590623,1.3831412180147062],[-0.45623098043743676,1.485994078027679]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_7","position":[-0.10297727825644953,0.44246629988557284,0.71338606911949],"aabb_xy":[[-0.10928937779278798,0.43669936063235404],[-0.09666517872011111,0.44823323913879165]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_8","position":[-0.29113430380924454,0.7248338964358743,0.71338606911949],"aabb_xy":[[-0.3070187970745697,0.7104809561370502],[-0.2752498105439194,0.7391868367346983]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_9","position":[-0.13430815957880748,0.35715849420065027,0.71338606911949],"aabb_xy":[[-0.1415694071492149,0.34437148393714073],[-0.12704691200840007,0.3699455044641597]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.13096480702308122,1.7351296793120015,0.71338606911949],"aabb_xy":[[-0.17595739374153163,1.6901296800375527],[-0.08597222030463081,1.7801296785864502]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_11","position":[-0.3934606747030377,1.6286591462336388,0.71338606911949],"aabb_xy":[[-0.39809578985527105,1.62479181115649],[-0.38882555955080433,1.6325264813107876]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_12","position":[-0.3215845855148189,0.8465098683142562,0.71338606911949],"aabb_xy":[[-0.3767097911444097,0.786509866872969],[-0.26645937988522816,0.9065098697555433]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_13","position":[-0.611942918162624,-0.6274491367888106,0.71338606911949],"aabb_xy":[[-0.6919429214266372,-0.641009169097724],[-0.5319429148986109,-0.6138891044798973]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_14","position":[-0.4522474863393663,0.5995211731316381,0.71338606911949],"aabb_xy":[[-0.5322474843201513,0.591919632169786],[-0.3722474883585813,0.60712271409349]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_15","position":[0.28024727555231943,-0.48502103868470803,0.71338606911949],"aabb_xy":[[0.2737456390443148,-0.4947888607110178],[0.28674891206032405,-0.47525321665839826]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_16","position":[0.03214277235659935,-1.2668443279099673,0.71338606911949],"aabb_xy":[[0.02392822724091535,-1.2755209182076084],[0.040357317472283306,-1.2581677376123257]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_17","position":[-0.24129919819305634,-1.8163323722909306,0.71338606911949],"aabb_xy":[[-0.2564014996540744,-1.8314338939219923],[-0.22619689673203822,-1.8012308506598684]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_18","position":[0.5689907069616904,-0.9502523975520321,0.71338606911949],"aabb_xy":[[0.504990705283693,-0.9987697890313463],[0.6329907086396878,-0.9017350060727178]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_19","position":[-0.35311034825974486,-1.1859472281225345,0.71338606911949],"aabb_xy":[[-0.3612380364530581,-1.1948608365332418],[-0.34498266006643163,-1.1770336197118267]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7042927038702567,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9999.png","name":"9999"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4074.png","name":"4074"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3774.png","name":"3774"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2086.png","name":"2086"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6277.png","name":"6277"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":814.7119749593573,"rotation_z_degrees":32.401859068549456,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01580219738013983,0.01766201118119474,-0.003246945973703546]},{"name":"camera_2","offset_m":[-0.00654048086793666,-0.013612331922523091,-0.0037891792171995085]},{"name":"camera_3","offset_m":[0.016257891134216638,-0.014851777215132604,-0.010886597220524168]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0014745519675107323,-2.0954588406647302e-05,-0.00101174916205735],"end_effector_yaw_offset_degrees":0.2832669677165571},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-8.70588193800871e-05,-0.00029042966557033304,-0.0018590388807893116],"end_effector_yaw_offset_degrees":0.570016117978071},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00014261446050494895,0.0008138334934891006,0.00019259287305597571],"end_effector_yaw_offset_degrees":-0.18304504082071604},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0006179896273178077,0.00028684147497253865,0.0012717834163558507],"end_effector_yaw_offset_degrees":-0.19044311775628375},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008067431212044249,-0.0011432254703621903,-0.0008412789392302628],"end_effector_yaw_offset_degrees":0.3074264115017433},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001896615079331319,8.58746605847979e-05,-0.0004938298760321759],"end_effector_yaw_offset_degrees":-0.11234302203818247}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011576323806712155,0.002814356115745869],"position_m":[0.32115763238067124,0.3559143561157459,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0049951567410936966,0.001389945834455778],"position_m":[0.18499515674109368,-0.03221005416554422,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0034338119973242936,-0.0039441574338463],"position_m":[0.2754338119973243,-0.3712441574338463,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004759760145685086,0.003089134138681439],"position_m":[0.3432597601456851,0.11158913413868143,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"970e45af91e50ff1ba4ce33472222a80c5f7c90682d076c1800b13a12516716b","episode_index":58,"episode_name":"episode_0058"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0058.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_9999/tex_ceiling_textures_6277/tex_floor_textures_2086/tex_table_textures_4074/tex_wall_textures_3774","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8556681475672542576,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8556681475672542576,"visual_seed":8556681475672542576,"scene_id":"lab_003","finished_at":"2026-09-06T17:12:32"} +{"episode_id":"ep_000059","started_at":"2026-09-06T17:12:39","dimensions":{"distractor":{"count":35,"items":[{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_0","position":[-0.4861694969882773,-2.431467255894677,0.71338606911949],"aabb_xy":[[-0.5037477991772241,-2.449041745468782],[-0.4685911947993305,-2.413892766320572]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_1","position":[-0.3426277528296233,-0.8907634082374769,0.71338606911949],"aabb_xy":[[-0.3801277526466569,-0.8954016195486186],[-0.30512775301258976,-0.886125196926335]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[0.4990722670506653,1.6742361352013728,0.71338606911949],"aabb_xy":[[0.4390722654077435,1.6222359859094286],[0.5590722686935872,1.726236284493317]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_3","position":[-0.39930226737436453,-1.6380805970106582,0.71338606911949],"aabb_xy":[[-0.4368022685591572,-1.6424988197067185],[-0.3618022661895716,-1.6336623743145975]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_4","position":[0.234685120750874,-1.4552301352479764,0.71338606911949],"aabb_xy":[[0.22664878604958916,-1.4632682545523932],[0.24272145545215884,-1.4471920159435596]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_5","position":[0.15208015004114017,1.1549145704218455,0.71338606911949],"aabb_xy":[[0.10209719985366082,1.1049145707792851],[0.20206310022861948,1.204914570064406]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_6","position":[-0.07719817516784644,-0.8352035014143644,0.71338606911949],"aabb_xy":[[-0.13219817434443593,-0.8901931761893219],[-0.022198175991256938,-0.7802138266394066]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_7","position":[0.5039573021453223,0.6674027966516647,0.71338606911949],"aabb_xy":[[0.481443610321865,0.597402796050657],[0.5264709939687794,0.7374027972526721]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_8","position":[-0.3127756910985923,0.7966162704446913,0.71338606911949],"aabb_xy":[[-0.3927756881128403,0.77648171877128],[-0.23277569408434434,0.8167508221181026]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_9","position":[0.1016904932282906,-2.0985771051027924,0.71338606911949],"aabb_xy":[[0.08179945334795034,-2.1112329163874897],[0.12158153310863085,-2.085921293818096]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_10","position":[-0.319188959611017,-2.1041517188906305,0.71338606911949],"aabb_xy":[[-0.3541889595875129,-2.1136163349382473],[-0.28418895963452123,-2.0946871028430136]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.5726717772617522,0.6423958276929227,0.71338606911949],"aabb_xy":[[-0.5824277667709261,0.6326332936336881],[-0.5629157877525783,0.652158361752157]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_12","position":[-0.3213032509655686,1.28606706335649,0.71338606911949],"aabb_xy":[[-0.385303248267915,1.2417006363886331],[-0.2573032536632222,1.3304334903243467]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_13","position":[0.20344451724570867,-1.0565940809623426,0.71338606911949],"aabb_xy":[[0.19253874115814593,-1.1365940773611718],[0.21435029333327135,-0.9765940845635135]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_14","position":[-0.32081403163111016,1.642914205402088,0.71338606911949],"aabb_xy":[[-0.3278554825818578,1.6358874536642936],[-0.3137725806803626,1.6499409571398824]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_15","position":[-0.5941642422069755,-0.3446635535603786,0.71338606911949],"aabb_xy":[[-0.6180004598475806,-0.4346635543688651],[-0.5703280245663704,-0.2546635527518921]]},{"name":"lh_specimen_cup_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m01_16","position":[-0.5640026309043852,1.0157108405673507,0.71338606911949],"aabb_xy":[[-0.5974428061004046,0.9822672147364205],[-0.5305624557083654,1.0491544663982806]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_17","position":[0.6287149386589401,1.2435270255083726,0.71338606911949],"aabb_xy":[[0.6213024831175517,1.2376758150867446],[0.6361273942003286,1.2493782359300005]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_18","position":[-0.6474420651951842,-0.9344251799901195,0.71338606911949],"aabb_xy":[[-0.6649420643295513,-0.9443048070277074],[-0.6299420660608169,-0.9245455529525317]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_19","position":[0.4906131589141527,1.3461700868046278,0.71338606911949],"aabb_xy":[[0.4106131556563097,1.2661735790126438],[0.5706131621719956,1.4261665945966118]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_20","position":[0.6544179789620816,-2.2832386136738196,0.71338606911949],"aabb_xy":[[0.6467937108719034,-2.2908718372103634],[0.6620422470522599,-2.275605390137276]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_21","position":[0.6292321123743818,-1.2255722186728426,0.71338606911949],"aabb_xy":[[0.5395450360662664,-1.3155722189272931],[0.7189191886824973,-1.135572218418392]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_22","position":[-0.40636170735832455,-1.8644624075577156,0.71338606911949],"aabb_xy":[[-0.4342067441389317,-1.8952469062960273],[-0.37851667057771743,-1.833677908819404]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_23","position":[-0.5983950557794623,0.2066550192869796,0.71338606911949],"aabb_xy":[[-0.6883950551978332,0.17327952244278985],[-0.5083950563610914,0.2400305161311693]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_24","position":[0.41404314704836764,-2.113665501611048,0.71338606911949],"aabb_xy":[[0.3894969314256168,-2.1439143981600846],[0.43858936267111825,-2.0834166050620104]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_25","position":[-0.5911174868991435,-1.3870074510292412,0.71338606911949],"aabb_xy":[[-0.6389236545129121,-1.4520074537363],[-0.5433113192853748,-1.322007448322182]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[-0.20099282657808654,-0.4716575150936224,0.71338606911949],"aabb_xy":[[-0.2082751429547501,-0.5616575187031313],[-0.1937105102014228,-0.38165751148411337]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.3858654383410496,1.6439772770281889,0.71338606911949],"aabb_xy":[[0.37989889940031374,1.6380161323688247],[0.3918319772817853,1.649938421687553]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_28","position":[0.5374478338005717,0.3296524055850716,0.71338606911949],"aabb_xy":[[0.5087985014401553,0.30100684630799573],[0.5660971661609877,0.3582979648621473]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[0.3639111941628679,-2.3006587590491314,0.71338606911949],"aabb_xy":[[0.3530595879139923,-2.311518049776782],[0.3747628004117435,-2.2897994683214806]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_30","position":[0.07022148141538731,-0.654636373420947,0.71338606911949],"aabb_xy":[[0.03522148314526739,-0.6617105011159351],[0.1052214796855072,-0.6475622457259588]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_31","position":[0.3770726535691631,-2.5072263197653912,0.71338606911949],"aabb_xy":[[0.3395726520535313,-2.5184530927815363],[0.41457265508479474,-2.495999546749246]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_32","position":[0.23513536209860608,-1.788090101138779,0.71338606911949],"aabb_xy":[[0.21845822610551055,-1.8047900251127096],[0.2518124980917016,-1.771390177164849]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_33","position":[-0.05689946465287765,-1.7189427971985798,0.71338606911949],"aabb_xy":[[-0.06235741028989772,-1.7989428005062387],[-0.051441519015857584,-1.6389427938909205]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_34","position":[-0.3088644875417714,-0.7746181802094512,0.71338606911949],"aabb_xy":[[-0.37286448781574966,-0.824684280406739],[-0.2448644872677932,-0.7245520800121631]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6975133242378463,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2955.png","name":"2955"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2955.png","name":"2955"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9762.png","name":"9762"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6565.png","name":"6565"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3473.png","name":"3473"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8325.png","name":"8325"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":541.1396924519167,"rotation_z_degrees":75.4103101518398,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0016224138633718875,0.006112622335758135,0.01659692457208251]},{"name":"camera_2","offset_m":[0.019010026398571796,-0.0021689575898056167,0.006133100609295568]},{"name":"camera_3","offset_m":[0.018090919597963644,-0.004462945862657728,0.007462756316854193]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0007990940749153163,0.00043496939715513766,-0.001847072159948212],"end_effector_yaw_offset_degrees":-0.9754586559373075},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0019286562494690374,-0.0003324302472850649,0.0014538775580238386],"end_effector_yaw_offset_degrees":0.3992832084059388},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0007916193004634557,0.0014357830050201132,-0.0009477136623533284],"end_effector_yaw_offset_degrees":-0.7748391642700689},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007095753193452352,0.0004933006436593072,-0.0013313106803145135],"end_effector_yaw_offset_degrees":0.15879582579598184},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016638715244226576,0.001621099225621815,-0.0017792765090345083],"end_effector_yaw_offset_degrees":0.2376106220747758},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0003833007980477347,0.0015145026768081443,-6.756704856359795e-05],"end_effector_yaw_offset_degrees":-0.999218712492532}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0014847809532283138,0.002637682658941781],"position_m":[0.3214847809532283,0.3557376826589418,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0023268489046079322,0.00443577769778038],"position_m":[0.18232684890460793,-0.029164222302219617,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0036903097511631266,-0.0025589824484018677],"position_m":[0.2683096902488369,-0.3698589824484019,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004842788746198918,0.0016243849326954144],"position_m":[0.3336572112538011,0.11012438493269541,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"7dccfcc297834520942a122ec049f347ca6260eea75c47aad0577d6eb3149545","episode_index":59,"episode_name":"episode_0059"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0059.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_2955/tex_ceiling_textures_8325/tex_floor_textures_3473/tex_table_textures_9762/tex_wall_textures_6565","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6516415606818109676,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6516415606818109676,"visual_seed":6516415606818109676,"scene_id":"lab_003","finished_at":"2026-09-06T17:19:06"} +{"episode_id":"ep_000060","started_at":"2026-09-06T17:19:11","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_0","position":[0.6278963511958762,0.1027219416579146,0.71338606911949],"aabb_xy":[[0.6066183430524038,0.03772193933184152],[0.6491743593393483,0.16772194398398765]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_1","position":[-0.1882555374521575,-2.5349855024132713,0.71338606911949],"aabb_xy":[[-0.2522555338794794,-2.5821551262353677],[-0.1242555410248356,-2.487815878591175]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_2","position":[0.1380824136663369,1.0102560053918714,0.71338606911949],"aabb_xy":[[0.12986786855065285,1.0015794150942297],[0.14629695878202081,1.0189325956895123]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_3","position":[0.39771090035251677,-2.465675184516511,0.71338606911949],"aabb_xy":[[0.390428583975853,-2.555675188126019],[0.4049932167291803,-2.375675180907001]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[-0.22563480078045645,-1.6414752749937287,0.71338606911949],"aabb_xy":[[-0.2734409683942251,-1.7064752777007874],[-0.17782863316668782,-1.5764752722866695]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_5","position":[-0.015336480766428129,1.036013911944523,0.71338606911949],"aabb_xy":[[-0.04033648031816661,1.0258714280793884],[0.009663518785310356,1.0461563958096578]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_6","position":[0.5836063775185103,0.5612138143422212,0.71338606911949],"aabb_xy":[[0.570159850884467,0.54774396268913],[0.5970529041525536,0.5746836659953124]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_7","position":[-0.355152377650992,1.4684337453753966,0.71338606911949],"aabb_xy":[[-0.3623961436972373,1.388433747171794],[-0.3479086116047467,1.5484337435789988]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_8","position":[-0.08586197010208463,1.144292414189886,0.71338606911949],"aabb_xy":[[-0.12336197027395657,1.1115916788069788],[-0.04836196993021269,1.1769931495727932]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.4395718852008894,-0.8160724361717322,0.71338606911949],"aabb_xy":[[0.4071101843189619,-0.8462052682866346],[0.4720335860828168,-0.7859396040568294]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_10","position":[0.5654197025446617,-2.0417558294210303,0.71338606911949],"aabb_xy":[[0.5615058293492392,-2.050504844827587],[0.5693335757400841,-2.0330068140144735]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[-0.2591072201762164,-0.6128340346749397,0.71338606911949],"aabb_xy":[[-0.26873885639664596,-0.6224713474546486],[-0.24947558395578673,-0.6031967218952308]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_12","position":[0.43458405671130995,-1.376858563159464,0.71338606911949],"aabb_xy":[[0.4095840574393477,-1.3932039267556264],[0.4595840559832723,-1.3605131995633017]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_13","position":[-0.12550971429875657,-1.7917122542642179,0.71338606911949],"aabb_xy":[[-0.1628409908239992,-1.8263653090590701],[-0.08817843777351395,-1.7570591994693656]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_14","position":[0.12722535683394542,-0.7557248243562427,0.71338606911949],"aabb_xy":[[0.07722535739374978,-0.8056927488405589],[0.17722535627414102,-0.7057568998719262]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_15","position":[0.49561822096466335,0.7622259681469021,0.71338606911949],"aabb_xy":[[0.44049301533507257,0.7022259667056149],[0.5507434265942541,0.8222259695881892]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.3420159585149966,-1.4281625133531846,0.71338606911949],"aabb_xy":[[-0.3731628773585797,-1.4981625120399915],[-0.3108690396714135,-1.3581625146663772]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_17","position":[0.29401891592898455,-0.7902260575402049,0.71338606911949],"aabb_xy":[[0.28485903698510795,-0.796757275583742],[0.30317879487286115,-0.7836948394966678]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_18","position":[0.36623085297882274,-1.1747108237535557,0.71338606911949],"aabb_xy":[[0.30223515558372616,-1.2387108220542642],[0.4302265503739193,-1.1107108254528468]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_19","position":[-0.1690390412018129,1.733578278908309,0.71338606911949],"aabb_xy":[[-0.18614111916018108,1.7164714733770392],[-0.15193696324344477,1.7506850844395787]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_20","position":[0.3335582067976961,0.8890340161312045,0.71338606911949],"aabb_xy":[[0.30316009569855246,0.8586271141295347],[0.36395631789683963,0.9194409181328738]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_21","position":[-0.5972629660945862,1.30754701518071,0.71338606911949],"aabb_xy":[[-0.6070189556037601,1.2977844811214754],[-0.5875069765854123,1.3173095492399443]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_22","position":[-0.08038853636886478,0.6872182567917702,0.71338606911949],"aabb_xy":[[-0.09175027102215093,0.6758497903854821],[-0.06902680171557861,0.6985867231980583]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_23","position":[-0.22429466077309823,-1.1861004951480607,0.71338606911949],"aabb_xy":[[-0.2892946589290173,-1.212396739697973],[-0.15929466261717917,-1.1598042505981485]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_24","position":[-0.41663378493085207,-0.027602894289036506,0.71338606911949],"aabb_xy":[[-0.48063378132642515,-0.09156618270777006],[-0.352633788535279,0.03636039412969705]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[-0.10199859551514534,0.8075387081857981,0.71338606911949],"aabb_xy":[[-0.1189093279514871,0.7940665025931835],[-0.08508786307880355,0.8210109137784125]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_26","position":[0.28712852050355975,1.058387873532812,0.71338606911949],"aabb_xy":[[0.22212852262191196,1.0072642098262712],[0.35212851838520753,1.109511537239353]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_27","position":[-0.4793053385940287,-1.3426232232517517,0.71338606911949],"aabb_xy":[[-0.5393053388454299,-1.396904548288216],[-0.41930533834262745,-1.2883418982152868]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_28","position":[0.2967088693250113,1.4577245720964886,0.71338606911949],"aabb_xy":[[0.2067088699066404,1.424349075252299],[0.3867088687433822,1.4911000689406784]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_29","position":[0.33649992196082734,-1.9489749181357738,0.71338606911949],"aabb_xy":[[0.30653236505100173,-1.9789749184336596],[0.36646747887065306,-1.918974917837888]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_30","position":[0.3633144451914254,0.6662996060104884,0.71338606911949],"aabb_xy":[[0.35847085043019544,0.6614479535315044],[0.3681580399526554,0.6711512584894727]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_31","position":[0.46812186775915876,-1.9569912226055055,0.71338606911949],"aabb_xy":[[0.45655288701222224,-1.9819912227224372],[0.4796908485060954,-1.9319912224885738]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_32","position":[0.10441157858235883,-1.8794905367829327,0.71338606911949],"aabb_xy":[[0.08691157944799165,-1.8893701638205203],[0.12191157771672599,-1.8696109097453446]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_33","position":[0.0028063603970372997,1.4642585248358242,0.71338606911949],"aabb_xy":[[-0.06219364060346322,1.4134721596811493],[0.06780636139753782,1.5150448899904991]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7023918637397424,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1589.png","name":"1589"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/66.png","name":"66"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7561.png","name":"7561"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7074.png","name":"7074"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":715.3923176296033,"rotation_z_degrees":190.9631750884192,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.006439230334696417,-0.013786362339431504,-0.003305526862432538]},{"name":"camera_2","offset_m":[0.00039161278002846495,-0.004055107766267146,0.0066332674571487095]},{"name":"camera_3","offset_m":[-0.009922360157656254,0.0020757505493506287,0.007849958558580603]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-9.008867801729367e-06,-0.0012451472324628292,-0.0007355646417196357],"end_effector_yaw_offset_degrees":-0.2202052015186886},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0009971047014253097,0.0011287260838895533,0.00012148539734511531],"end_effector_yaw_offset_degrees":-0.8381780356365935},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012587642735379695,-0.001228223925360123,0.00048567857298663624],"end_effector_yaw_offset_degrees":-0.7176462541950825},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015097827121247835,-0.0011103143913103826,0.0003832873164075932],"end_effector_yaw_offset_degrees":0.0704417242389952},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018351957508614572,0.0017241650893209605,-0.0012325366083659512],"end_effector_yaw_offset_degrees":-0.5451117333409128},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0002716551898564799,0.00047966671072562734,0.001305097236202946],"end_effector_yaw_offset_degrees":0.5422256964190071}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004246933312511543,-0.004803395397612059],"position_m":[0.32424693331251153,0.348296604602388,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00219166275462951,-0.0013542214880198668],"position_m":[0.17780833724537048,-0.03495422148801987,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0019929858791738857,-0.00266074105889474],"position_m":[0.2739929858791739,-0.36996074105889476,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037619834758260253,0.004479624792916013],"position_m":[0.34226198347582604,0.11297962479291601,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5bc00b80efcd31142f60e91843e04741ac926079df8cc06787c330768698b235","episode_index":60,"episode_name":"episode_0060"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0060.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3028/tex_ceiling_textures_7074/tex_floor_textures_7561/tex_table_textures_1589/tex_wall_textures_66","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5765541300197018874,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5765541300197018874,"visual_seed":5765541300197018874,"scene_id":"lab_003","finished_at":"2026-09-06T17:25:40"} +{"episode_id":"ep_000061","started_at":"2026-09-06T17:25:47","dimensions":{"distractor":{"count":26,"items":[{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_0","position":[-0.4757440865200357,-0.0016288280352179108,0.71338606911949],"aabb_xy":[[-0.49275418381008634,-0.017763316533491835],[-0.45873398922998504,0.014505660463056014]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_1","position":[-0.27322926575498035,-0.9584804483130891,0.71338606911949],"aabb_xy":[[-0.337229263040629,-0.9999871672659331],[-0.2092292684693317,-0.9169737293602451]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_2","position":[0.5218703358719174,0.5064602652483061,0.71338606911949],"aabb_xy":[[0.510301355124981,0.4814602651313744],[0.5334393166188541,0.5314602653652378]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_3","position":[0.29616218398878713,0.9419002453138954,0.71338606911949],"aabb_xy":[[0.2830109380174978,0.916900245557209],[0.30931342996007655,0.966900245070582]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_4","position":[-0.18081955332545463,1.4365871016183562,0.71338606911949],"aabb_xy":[[-0.1940504988601359,1.4233596825963568],[-0.1675886077907733,1.4498145206403557]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_5","position":[-0.3405962967442985,-0.28562080590352945,0.71338606911949],"aabb_xy":[[-0.35575916972123567,-0.30078626319864826],[-0.3254334237673615,-0.27045534860841075]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_6","position":[-0.4018625104390754,-1.595556932255075,0.71338606911949],"aabb_xy":[[-0.42640872606182606,-1.625805828804112],[-0.3773162948163246,-1.5653080357060378]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_7","position":[-0.18355863743571232,-0.6650379292557669,0.71338606911949],"aabb_xy":[[-0.19148191767446066,-0.6875379294937702],[-0.175635357196964,-0.6425379290177635]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[0.18641404838826203,1.0223936663282283,0.71338606911949],"aabb_xy":[[0.1825001751928395,1.0136446509216714],[0.19032792158368456,1.031142681734785]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.3117262641326514,-0.4917674423649858,0.71338606911949],"aabb_xy":[[-0.32863699656899314,-0.5052396479576002],[-0.2948155316963096,-0.47829523677237124]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_10","position":[0.09428338676764014,-2.203443853437531,0.71338606911949],"aabb_xy":[[0.06928338749567786,-2.219789217033693],[0.11928338603960242,-2.187098489841368]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_11","position":[-0.05497632935311947,-2.218216013822331,0.71338606911949],"aabb_xy":[[-0.06473231886229336,-2.2279785478815652],[-0.04522033984394558,-2.2084534797630964]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.24013243174498194,0.9862518876626822,0.71338606911949],"aabb_xy":[[-0.26464605584198786,0.9619872943606458],[-0.2156188076479761,1.0105164809647187]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_13","position":[0.2514498473371425,-1.4185475526930316,0.71338606911949],"aabb_xy":[[0.186449844699349,-1.4700271513924785],[0.31644984997493597,-1.3670679539935846]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_14","position":[-0.4983196934052199,-0.4416578250790253,0.71338606911949],"aabb_xy":[[-0.5048213299132245,-0.4514256471053351],[-0.4918180568972153,-0.4318900030527156]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_15","position":[0.49525540190402784,1.2125240523543401,0.71338606911949],"aabb_xy":[[0.46025540363390793,1.2054499246593517],[0.5302554001741477,1.219598180049328]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_16","position":[-0.24890695930306406,1.2770700841760276,0.71338606911949],"aabb_xy":[[-0.28268251849375703,1.263031588962863],[-0.21513140011237109,1.2911085793891928]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_17","position":[0.4280415467587415,0.8761976402138645,0.71338606911949],"aabb_xy":[[0.3997118368102013,0.8717368980201474],[0.45637125670728174,0.8806583824075815]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_18","position":[-0.16649053720536644,-1.5900138303352818,0.71338606911949],"aabb_xy":[[-0.2364905390141119,-1.6113675990994691],[-0.09649053539662103,-1.5686600615710944]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_19","position":[0.682719265562715,-1.4776403365224224,0.71338606911949],"aabb_xy":[[0.6676169641016967,-1.492741858153484],[0.6978215670237329,-1.46253881489136]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_20","position":[0.22888014992534556,-2.3792760146967034,0.71338606911949],"aabb_xy":[[0.22159783354868187,-2.4692760183062115],[0.23616246630200918,-2.2892760110871935]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.5410217210951478,-2.556497593302891,0.71338606911949],"aabb_xy":[[0.5290889867333197,-2.56887974611075],[0.5529544554569759,-2.5441154404950312]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_22","position":[0.48499495022625005,-0.7895658862534876,0.71338606911949],"aabb_xy":[[0.42099495105648016,-0.83633257337245],[0.54899494939602,-0.7427991991345251]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_23","position":[0.4995485891908178,-0.9992762274073637,0.71338606911949],"aabb_xy":[[0.48610206255677446,-1.012746079060455],[0.5129951158248611,-0.9858063757542723]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_24","position":[0.0011826507803304187,1.3413867824241708,0.71338606911949],"aabb_xy":[[-0.013460754773702566,1.3267280627673863],[0.015826056334363403,1.3560455020809548]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_25","position":[0.23912500671186787,-1.796397342195324,0.71338606911949],"aabb_xy":[[0.15912500812454844,-1.8757129441334848],[0.3191250052991873,-1.717081740257163]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6954759259209616,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4435.png","name":"4435"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4435.png","name":"4435"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8807.png","name":"8807"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4704.png","name":"4704"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2135.png","name":"2135"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2090.png","name":"2090"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":696.2242331957764,"rotation_z_degrees":62.283365879522634,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0012431826041749972,-0.0065477362529088486,-0.0019037307676183848]},{"name":"camera_2","offset_m":[-0.017966688834312572,-0.0075995487851199025,0.0100702661838631]},{"name":"camera_3","offset_m":[-0.007651646859055915,0.014120383277940515,-0.013926578629239197]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004456163275876686,-0.0004935145000785695,-0.0010151509813707432],"end_effector_yaw_offset_degrees":-0.8918349302730306},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018547557197886326,-0.001042466299869639,0.0009985682902767874],"end_effector_yaw_offset_degrees":-0.28916986442469184},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007221177454981612,-0.000872069777131093,-0.0012796884016480462],"end_effector_yaw_offset_degrees":-0.9559573587055248},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00028096567577084487,-2.9851613107388653e-05,0.0014551709090822006],"end_effector_yaw_offset_degrees":0.5808556749184377},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000594414602894262,-0.001735640916823439,0.0007084105331479676],"end_effector_yaw_offset_degrees":0.5785332506382033},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0019673008771377226,0.00037177267906991426,-0.00011192463066312633],"end_effector_yaw_offset_degrees":-0.2680604585891042}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0013022141429892076,-0.0011576611327692677],"position_m":[0.3213022141429892,0.35194233886723075,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.003307954353916933,0.004794521428656085],"position_m":[0.17669204564608307,-0.028805478571343912,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002540064390976117,0.00316278884279574],"position_m":[0.2694599356090239,-0.36413721115720427,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002931210388551931,0.004527970966696308],"position_m":[0.34143121038855195,0.11302797096669631,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f4b6e1b521effd48d33371a9203d194e7a996ba2be1e8bbdfed8f01f69107f46","episode_index":61,"episode_name":"episode_0061"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0061.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_4435/tex_ceiling_textures_2090/tex_floor_textures_2135/tex_table_textures_8807/tex_wall_textures_4704","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5083016825325774360,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5083016825325774360,"visual_seed":5083016825325774360,"scene_id":"lab_003","finished_at":"2026-09-06T17:32:14"} +{"episode_id":"ep_000062","started_at":"2026-09-06T17:32:19","dimensions":{"distractor":{"count":31,"items":[{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_0","position":[-0.2862744640160784,-1.384700013917797,0.71338606911949],"aabb_xy":[[-0.3662744610303264,-1.4048345655912082],[-0.20627446700183044,-1.3645654622443857]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[0.544972963828628,0.9689722444215709,0.71338606911949],"aabb_xy":[[0.4809729634510943,0.9192269775707586],[0.6089729642061615,1.0187175112723832]]},{"name":"wc_evaporating_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m02_2","position":[-0.029076593937048756,1.0062706908363865,0.71338606911949],"aabb_xy":[[-0.08907659557997061,0.9542705415444424],[0.030923407705873096,1.0582708401283307]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[0.45391899153649606,1.306796992670574,0.71338606911949],"aabb_xy":[[0.3899189883178582,1.2600738807715657],[0.5179189947551339,1.3535201045695824]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[0.04669038398578307,-1.4134172634022197,0.71338606911949],"aabb_xy":[[0.03062845652726542,-1.4984172652148113],[0.0627523114443007,-1.3284172615896277]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.2131230698422643,-2.26110862380094,0.71338606911949],"aabb_xy":[[-0.22776647539629727,-2.2757673434577237],[-0.1984796642882313,-2.2464499041441552]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_6","position":[0.5173614337030163,-1.9308376353454826,0.71338606911949],"aabb_xy":[[0.5096582430289394,-1.9385470060442203],[0.5250646243770933,-1.9231282646467445]]},{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_7","position":[0.5019539709401686,0.7692303973543071,0.71338606911949],"aabb_xy":[[0.4379539692621711,0.7207130058749929],[0.5659539726181658,0.8177477888336213]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_8","position":[-0.08934362304184851,1.1934243636933521,0.71338606911949],"aabb_xy":[[-0.15434362399897572,1.1414761517596466],[-0.024343622084721305,1.2453725756270577]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_9","position":[0.331812185699216,-1.3087611265134687,0.71338606911949],"aabb_xy":[[0.2768384636628831,-1.363761126077702],[0.3867859077355489,-1.2537611269492357]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_10","position":[-0.510344590387809,-1.509833401170571,0.71338606911949],"aabb_xy":[[-0.5603396013472611,-1.559833400206163],[-0.4603495794283571,-1.4598334021349793]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_11","position":[0.45995988249834996,1.6362576160166538,0.71338606911949],"aabb_xy":[[0.45032824627792023,1.6266203032369448],[0.46959151871877947,1.6458949287963627]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_12","position":[0.19431389312899328,0.9139310723557434,0.71338606911949],"aabb_xy":[[0.18631990455128988,0.9059309922606531],[0.20230788170669667,0.9219311524508338]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_13","position":[-0.18485931308941372,-0.5056451709307148,0.71338606911949],"aabb_xy":[[-0.23485414601735533,-0.5556451698259584],[-0.13486448016147212,-0.4556451720354713]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_14","position":[-0.2008268372984578,0.12018219093070659,0.71338606911949],"aabb_xy":[[-0.2088531079290838,0.11143069595335399],[-0.1928005666678318,0.1289336859080592]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_15","position":[0.13086004058457112,0.941124991622218,0.71338606911949],"aabb_xy":[[0.12527836895044236,0.9286249918044424],[0.13644171221869988,0.9536249914399934]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.15920629591494995,1.4155883617628962,0.71338606911949],"aabb_xy":[[0.06951921960683449,1.3255883615084456],[0.2488933722230654,1.5055883620173467]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_17","position":[-0.5258662532488434,-2.0434609502545875,0.71338606911949],"aabb_xy":[[-0.5367067314753583,-2.060647231545236],[-0.5150257750223285,-2.026274668963939]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_18","position":[0.25268985053224546,-1.5048367567345273,0.71338606911949],"aabb_xy":[[0.17268985006202955,-1.513147464348876],[0.33268985100246146,-1.4965260491201788]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_19","position":[-0.11905106180584213,0.8144175432043697,0.71338606911949],"aabb_xy":[[-0.12839806938813736,0.8001139209867256],[-0.10970405422354691,0.8287211654220137]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_20","position":[-0.3950528431044476,-0.11255629065700878,0.71338606911949],"aabb_xy":[[-0.47505284636229056,-0.19255279844899276],[-0.31505283984660465,-0.0325597828650248]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_21","position":[-0.3278115937658448,0.3843451040660497,0.71338606911949],"aabb_xy":[[-0.41781159609986385,0.30686274948093706],[-0.23781159143182573,0.46182745865116237]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_22","position":[0.10543361557691733,-1.8444951295598717,0.71338606911949],"aabb_xy":[[0.05543361455778208,-1.8809613452976999],[0.15543361659605262,-1.808028913822044]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_23","position":[0.5435607682732111,-0.8787519904239194,0.71338606911949],"aabb_xy":[[0.5355672784779292,-0.886750122364395],[0.5515542580684932,-0.8707538584834438]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_24","position":[-0.146755860049662,-0.9168368850245556,0.71338606911949],"aabb_xy":[[-0.18360640798664962,-0.9543368858475894],[-0.1099053121126744,-0.8793368842015219]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_25","position":[0.42793553439973775,-2.1559950975793463,0.71338606911949],"aabb_xy":[[0.41043553512165093,-2.173333197645692],[0.4454355336778247,-2.1386569975130003]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_26","position":[-0.38470987870369,0.6801975625843992,0.71338606911949],"aabb_xy":[[-0.448709880924097,0.6358244784591109],[-0.320709876483283,0.7245706467096875]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_27","position":[-0.052077056890323714,-0.6010014653686067,0.71338606911949],"aabb_xy":[[-0.06723992986726081,-0.6161669226637255],[-0.03691418391338664,-0.585836008073488]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_28","position":[-0.23800571707835838,0.655381431074157,0.71338606911949],"aabb_xy":[[-0.2450460270118954,0.5753814316744856],[-0.23096540714482142,0.7353814304738284]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_29","position":[-0.1334926491290539,-1.1520758603294168,0.71338606911949],"aabb_xy":[[-0.16780892630367183,-1.2020758603025943],[-0.09917637195443596,-1.1020758603562388]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_30","position":[-0.4397752555966078,0.9472722065927455,0.71338606911949],"aabb_xy":[[-0.44848922464654223,0.9247722059335572],[-0.43106128654667325,0.9697722072519337]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6998629863658425,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1637.png","name":"1637"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1637.png","name":"1637"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1685.png","name":"1685"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6641.png","name":"6641"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1552.png","name":"1552"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9592.png","name":"9592"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":629.8834823987088,"rotation_z_degrees":34.87098668174837,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0035845559515436214,-0.009754542023144954,0.0006063804247515327]},{"name":"camera_2","offset_m":[-0.0013813556114983284,-0.004436351728624608,-0.008343314707722151]},{"name":"camera_3","offset_m":[0.005469665424964642,-0.008196666371196773,0.0005893742941212622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0006087416249784447,0.0005170114371142007,0.0004143779579028938],"end_effector_yaw_offset_degrees":-0.5542251057157084},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0016122046651357177,0.0019246737666795471,0.0010988884987881485],"end_effector_yaw_offset_degrees":0.7496534967739359},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00019398837018766695,-0.0008621976724512686,-0.0010674033026252987],"end_effector_yaw_offset_degrees":0.6122564055499862},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0019647851230024053,0.0007048050733303025,-0.0005712014972039587],"end_effector_yaw_offset_degrees":-0.08577841786501561},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0010235168966445355,0.0011786374678371637,-0.0006270183493943954],"end_effector_yaw_offset_degrees":-0.2365749754646791},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011322437634498036,2.2894210932230315e-05,0.0011458145072211507],"end_effector_yaw_offset_degrees":-0.5799978211218921}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004468603093175509,-0.00038659734118885476],"position_m":[0.3155313969068245,0.3527134026588112,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0013563423903612485,0.004757005038883559],"position_m":[0.18135634239036125,-0.02884299496111644,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0013945829750081507,-0.0033190495542744745],"position_m":[0.27060541702499186,-0.3706190495542745,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00366085036239469,-0.0036335722829697182],"position_m":[0.3421608503623947,0.10486642771703028,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"246f0ba1de27fac05ea73f2964043d2b03c052f1ea4ff2f29e237cccc10eabc6","episode_index":62,"episode_name":"episode_0062"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0062.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_1637/tex_ceiling_textures_9592/tex_floor_textures_1552/tex_table_textures_1685/tex_wall_textures_6641","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6286387016305211226,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6286387016305211226,"visual_seed":6286387016305211226,"scene_id":"lab_003","finished_at":"2026-09-06T17:38:12"} +{"episode_id":"ep_000063","started_at":"2026-09-06T17:38:18","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_0","position":[-0.3987565451912991,-1.5419378173293472,0.71338606911949],"aabb_xy":[[-0.40687019986467615,-1.5500436337833763],[-0.39064289051792195,-1.5338320008753181]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[0.44278323351702076,-1.6534506848256174,0.71338606911949],"aabb_xy":[[0.4299113300160807,-1.7334506852394536],[0.45565513701796095,-1.5734506844117813]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.17489368803149752,-1.4281986523316623,0.71338606911949],"aabb_xy":[[-0.1868264223933256,-1.440580805139522],[-0.16296095366966945,-1.4158164995238032]]},{"name":"lh_pcr_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m01_3","position":[0.2587832782106031,0.5956480601772816,0.71338606911949],"aabb_xy":[[0.2500853159198878,0.5835230858698068],[0.2674812405013184,0.6077730344847563]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_4","position":[-0.3981593355570972,-0.6671877676738931,0.71338606911949],"aabb_xy":[[-0.45815933641790996,-0.7186141976803793],[-0.33815933469628434,-0.6157613376674065]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_5","position":[-0.41941044636078106,0.28985009314189725,0.71338606911949],"aabb_xy":[[-0.4544104477122628,0.26949035718507636],[-0.38441044500929933,0.310209829098718]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_6","position":[0.38334611219598935,-1.010515192635581,0.71338606911949],"aabb_xy":[[0.3333461135500681,-1.0604347362950435],[0.4333461108419105,-0.9605956489761187]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_7","position":[-0.2512643074845351,-1.018096550208117,0.71338606911949],"aabb_xy":[[-0.29654292236568436,-1.0820965495563006],[-0.20598569260338584,-0.9540965508599333]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_8","position":[-0.4289806443198615,-1.0931598254639554,0.71338606911949],"aabb_xy":[[-0.4460827222782297,-1.1102666309952254],[-0.4118785663614934,-1.0760530199326859]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_9","position":[0.023829398415743386,0.7144136703161403,0.71338606911949],"aabb_xy":[[0.0035450956923446237,0.6941310451734315],[0.04411370113914214,0.7346962954588492]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_10","position":[-0.45376752569124396,0.038646515634306766,0.71338606911949],"aabb_xy":[[-0.5037668008596801,-0.011353485641640397],[-0.4037682505228078,0.08864651691025394]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_11","position":[0.27016462138798636,0.7621763913227362,0.71338606911949],"aabb_xy":[[0.20616462496066446,0.7150067675006399],[0.33416461781530826,0.8093460151448327]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.5673524045783804,-2.3496179168904723,0.71338606911949],"aabb_xy":[[0.4873524059214944,-2.364122775814735],[0.6473524032352664,-2.3351130579662094]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_13","position":[-0.434752918301415,0.9889482132068266,0.71338606911949],"aabb_xy":[[-0.48975291650315983,0.948426246580389],[-0.37975292009967015,1.0294701798332642]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_14","position":[0.3312735697987106,-0.7718247453844855,0.71338606911949],"aabb_xy":[[0.25127357283567137,-0.8489003870282589],[0.4112735667617497,-0.694749103740712]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_15","position":[0.14646727157291783,1.3255206781877602,0.71338606911949],"aabb_xy":[[0.13562679334640293,1.3083343968971115],[0.15730774979943274,1.342706959478409]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_16","position":[0.5300334048835991,-0.9853141355507542,0.71338606911949],"aabb_xy":[[0.4800385719556576,-1.0353141344459977],[0.5800282378115408,-0.9353141366555107]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_17","position":[0.22545122821685937,-1.3152224939738166,0.71338606911949],"aabb_xy":[[0.202951227973344,-1.3274271286335886],[0.2479512284603748,-1.3030178593140447]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_18","position":[0.3838719972782607,1.067507294007111,0.71338606911949],"aabb_xy":[[0.33674261827642493,1.003507292962709],[0.43100137628009627,1.1315072950515128]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_19","position":[-0.26781533549013475,-0.35041890901414074,0.71338606911949],"aabb_xy":[[-0.3318110328852313,-0.4144189073148494],[-0.2038196380950381,-0.28641891071343206]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_20","position":[-0.2030466201813862,1.7513513377116268,0.71338606911949],"aabb_xy":[[-0.22554662069342676,1.728859479346228],[-0.18054661966934557,1.7738431960770247]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_21","position":[0.08178607125981607,1.0180957818438876,0.71338606911949],"aabb_xy":[[0.06623030184955082,1.0025453485994806],[0.09734184067008136,1.033646215088295]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_22","position":[-0.3812235809281029,-2.403717570286259,0.71338606911949],"aabb_xy":[[-0.40368835089950794,-2.4262175711651195],[-0.3587588109566977,-2.3812175694073985]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_23","position":[0.5700222226298746,1.2057087950677223,0.71338606911949],"aabb_xy":[[0.5150485005935417,1.1507087955034894],[0.6249959446662074,1.2607087946319557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6973970883549675,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7847.png","name":"7847"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4334.png","name":"4334"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6665.png","name":"6665"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5003.png","name":"5003"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":747.8809823564793,"rotation_z_degrees":129.88012182244972,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010964833264367722,-0.01200229444087257,-0.008160280066026489]},{"name":"camera_2","offset_m":[-0.0049331099548795485,0.005930314685585917,0.0020978958501557295]},{"name":"camera_3","offset_m":[-0.016139349776286976,-0.004116892585153496,-0.006681732483303601]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001888551167979926,-0.00030478826362595815,-0.00020217472707511784],"end_effector_yaw_offset_degrees":0.8922345408447392},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0018615207420246424,-0.001820529378153588,-0.00045729240897591605],"end_effector_yaw_offset_degrees":-0.03811155443290226},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016051676981723119,0.0018057116915041619,0.0018787509028523421],"end_effector_yaw_offset_degrees":0.5548412245440244},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000980645058178966,-0.0012379324124810855,-0.000588755700611515],"end_effector_yaw_offset_degrees":-0.4800687554453551},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0009735907638852869,-0.0005607832665620097,-0.0008304084757868625],"end_effector_yaw_offset_degrees":0.20766564357635642},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001606910504368948,-0.00046513828707226063,-0.0019427241896008579],"end_effector_yaw_offset_degrees":0.2405615497639897}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004517881151235568,-0.0036998131388948407],"position_m":[0.3245178811512356,0.3494001868611052,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016062159295369281,-0.0008937331760424938],"position_m":[0.17839378407046305,-0.03449373317604249,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.00297956809891231,-0.0012002250331425122],"position_m":[0.2690204319010877,-0.3685002250331425,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.00214500390867425,0.0037245964470379892],"position_m":[0.3363549960913258,0.11222459644703799,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a0ac73d73520cdf36ba437e6f0f6f19aa60e6ff2b3359eabee97c3e3385144c9","episode_index":63,"episode_name":"episode_0063"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0063.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_7847/tex_ceiling_textures_1679/tex_floor_textures_5003/tex_table_textures_4334/tex_wall_textures_6665","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2170055463782109808,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2170055463782109808,"visual_seed":2170055463782109808,"scene_id":"lab_003","finished_at":"2026-09-06T17:44:50"} +{"episode_id":"ep_000064","started_at":"2026-09-06T17:44:55","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_0","position":[0.11386976112481306,-1.1333244934796567,0.71338606911949],"aabb_xy":[[0.09358545840141429,-1.153607118622365],[0.1341540638482118,-1.1130418683369474]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.6572284791592407,0.5853678960981559,0.71338606911949],"aabb_xy":[[0.6343127662741908,0.5624635989617325],[0.6801441920442906,0.6082721932345795]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_2","position":[-0.06755197307149197,-1.8848328506116498,0.71338606911949],"aabb_xy":[[-0.07948470743332005,-1.8972150034195092],[-0.05561923870966391,-1.8724506978037905]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_3","position":[0.2734227840338893,0.6532332686433091,0.71338606911949],"aabb_xy":[[0.2234279511059477,0.6032332697480656],[0.3234176169618309,0.7032332675385526]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_4","position":[-0.6138529562972657,-2.098068585833483,0.71338606911949],"aabb_xy":[[-0.6778529535829142,-2.139575304786327],[-0.5498529590116169,-2.056561866880639]]},{"name":"lh_dropper_bottle_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m02_5","position":[0.1718367499250283,-1.6632472678014225,0.71338606911949],"aabb_xy":[[0.1539676421705728,-1.6770801757786336],[0.18970585767948378,-1.6494143598242115]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_6","position":[-0.3314164155685222,1.2744104126538423,0.71338606911949],"aabb_xy":[[-0.3408338901383849,1.2649942355161234],[-0.3219989409986594,1.2838265897915615]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_7","position":[0.4655323339600528,-0.25009509344311054,0.71338606911949],"aabb_xy":[[0.45496485430195377,-0.2606401235561191],[0.4760998136181518,-0.23955006333010198]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_8","position":[-0.35339151262071594,0.967823596648727,0.71338606911949],"aabb_xy":[[-0.36526359563221705,0.8828235969550765],[-0.34151942960921483,1.0528235963423773]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_9","position":[-0.22933776227028357,-0.5957128408232597,0.71338606911949],"aabb_xy":[[-0.24688445718640253,-0.633212842387511],[-0.21179106735416467,-0.5582128392590084]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_10","position":[-0.0917889499212694,1.249879545124998,0.71338606911949],"aabb_xy":[[-0.15578895019524763,1.19981344492771],[-0.027788949647291172,1.299945645322286]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[0.27719205084038945,1.2964118368170205,0.71338606911949],"aabb_xy":[[0.19719204757637632,1.2828518045081072],[0.3571920541044026,1.3099718691259339]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_12","position":[0.3147433748902482,0.9613132996699245,0.71338606911949],"aabb_xy":[[0.30748212731984076,0.9485262894064151],[0.3220046224606556,0.9741003099334341]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_13","position":[-0.34944527411985515,0.12022572157585953,0.71338606911949],"aabb_xy":[[-0.35685772966124363,0.11437451115423158],[-0.3420328185784667,0.12607693199748748]]},{"name":"lh_microcentrifuge_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m02_14","position":[-0.6575877074583367,-1.4121243475567662,0.71338606911949],"aabb_xy":[[-0.6663897627673093,-1.419935673711695],[-0.6487856521493639,-1.404313021401837]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_15","position":[0.158615377117454,-0.9045037230945341,0.71338606911949],"aabb_xy":[[0.14574347361651382,-0.98450372350837],[0.1714872806183941,-0.8245037226806977]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_16","position":[0.01961691732970794,0.7457557075316252,0.71338606911949],"aabb_xy":[[-0.017883081093692414,0.7325914935637945],[0.05711691575310829,0.7589199214994558]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_17","position":[-0.2706802609095244,-0.2876167755952781,0.71338606911949],"aabb_xy":[[-0.28888608457077214,-0.29864217617726974],[-0.2524744372482768,-0.27659137501328646]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[-0.47416478027217157,1.054909621432771,0.71338606911949],"aabb_xy":[[-0.5381647773842773,1.0058772516383603],[-0.4101647831600658,1.1039419912271815]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_19","position":[0.3513465342079052,-1.0104166233220682,0.71338606911949],"aabb_xy":[[0.32135487147403485,-1.0404166226588685],[0.3813381969417755,-0.9804166239852674]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.5828332429629591,1.411260747201061,0.71338606911949],"aabb_xy":[[-0.6128007998727848,1.381260746903175],[-0.5528656860531335,1.4412607474989465]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_21","position":[0.2655724962179091,1.4216406822412773,0.71338606911949],"aabb_xy":[[0.257458841544532,1.4135348657872482],[0.27368615089128623,1.4297464986953063]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.46681104386722216,-2.0792946049766314,0.71338606911949],"aabb_xy":[[0.38681722028866394,-2.159294607569473],[0.5468048674457804,-1.9992946023837899]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_23","position":[0.567138778644005,1.212420593269837,0.71338606911949],"aabb_xy":[[0.5598564622673412,1.1224205896603276],[0.5744210950206685,1.3024205968793456]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_24","position":[-0.16631615483564055,-0.3749214406333783,0.71338606911949],"aabb_xy":[[-0.17607214434481444,-0.3846839746926126],[-0.15656016532646666,-0.36515890657414374]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_25","position":[0.318470057402376,-0.6486735247342819,0.71338606911949],"aabb_xy":[[0.30912304982008076,-0.6629771469519258],[0.3278170649846712,-0.6343699025166377]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_26","position":[0.004156910070474251,1.7508421461585084,0.71338606911949],"aabb_xy":[[-0.060843090886652955,1.6988939342248028],[0.06915691102760145,1.802790358092214]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_27","position":[0.6615947028533427,0.7738557961597179,0.71338606911949],"aabb_xy":[[0.6539704347631644,0.7662225726231743],[0.6692189709435209,0.7814890196962617]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_28","position":[-0.4404117862622458,-2.009984137579438,0.71338606911949],"aabb_xy":[[-0.45808741685084403,-2.02766435385884],[-0.42273615567364736,-1.9923039213000349]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_29","position":[-0.0181341911706302,-1.3486464200174328,0.71338606911949],"aabb_xy":[[-0.027294070114506797,-1.35517763806097],[-0.0089743122267536,-1.3421152019738958]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_30","position":[0.022607670087607556,-2.248469008502667,0.71338606911949],"aabb_xy":[[-0.012392329808411312,-2.2568432440146067],[0.05760766998362643,-2.2400947729907266]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003717182292444,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4121.png","name":"4121"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1391.png","name":"1391"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9220.png","name":"9220"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2194.png","name":"2194"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4369.png","name":"4369"}]},"visual":{"folder_name":"vis_bright_daylight","config_idx":10,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":572.7239393019092,"rotation_z_degrees":243.61065068519926,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.013270706061440492,-0.0005904326517156694,0.015997431373278987]},{"name":"camera_2","offset_m":[-0.0008164868925762611,0.009835671347216728,-0.009073348951978165]},{"name":"camera_3","offset_m":[-0.007611289312331779,0.014488764418328994,0.01423737503309654]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008701675242289758,0.00025595222067299923,-0.0017809327679485319],"end_effector_yaw_offset_degrees":0.050156916864144696},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0004936431831073151,0.0009733390523249236,-0.001971349492523936],"end_effector_yaw_offset_degrees":-0.6420177145995594},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0010391756031681361,-0.0015734351264769376,-0.0019735490776999673],"end_effector_yaw_offset_degrees":-0.7411556454152586},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.001964440486707175,-0.0013362146215658345,-0.0015193802201075028],"end_effector_yaw_offset_degrees":-0.7825830942634489},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010799836733225575,0.00015571622990734205,0.0006176995902164961],"end_effector_yaw_offset_degrees":-0.7473355224570557},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0011055453906522604,-0.0007152268463599806,-0.0013246220751417653],"end_effector_yaw_offset_degrees":-0.6424211267723534}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022463184633910007,0.0013605830528614603],"position_m":[0.317753681536609,0.3544605830528615,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003702108256708361,-0.004000002155483091],"position_m":[0.18370210825670835,-0.03760000215548309,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004246438097496338,0.00488956629618264],"position_m":[0.2762464380974964,-0.36241043370381737,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0027589839819017244,0.004597883630505495],"position_m":[0.34125898398190174,0.11309788363050549,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"428145cab64656ec3ade9969df99d36bb12a0aba97c96eeb2ad9b9a66ff31343","episode_index":64,"episode_name":"episode_0064"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0064.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_010_bright_daylight/scene_lab_003/tex_background_textures_4121/tex_ceiling_textures_4369/tex_floor_textures_2194/tex_table_textures_1391/tex_wall_textures_9220","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9117543936092207286,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9117543936092207286,"visual_seed":9117543936092207286,"scene_id":"lab_003","finished_at":"2026-09-06T17:51:37"} +{"episode_id":"ep_000065","started_at":"2026-09-06T17:51:43","dimensions":{"distractor":{"count":28,"items":[{"name":"st_magnetic_stir_bar_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m01_0","position":[-0.18929636059996424,-1.1365742706365707,0.71338606911949],"aabb_xy":[[-0.21179636061011253,-1.150670490276174],[-0.16679636058981595,-1.1224780509969674]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_1","position":[-0.12201852327486107,0.488520069139851,0.71338606911949],"aabb_xy":[[-0.17183530273969583,0.4385200706555477],[-0.07220174381002631,0.5385200676241544]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_2","position":[-0.377140962192939,-0.0627341048397132,0.71338606911949],"aabb_xy":[[-0.4076252123199692,-0.11273410462120914],[-0.34665671206590887,-0.01273410505821726]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_3","position":[-0.5193376552986861,-0.9702742252896217,0.71338606911949],"aabb_xy":[[-0.5833376526010325,-1.0146406522574782],[-0.45533765799633974,-0.9259077983217647]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_4","position":[0.14125561083755167,-0.949595957830474,0.71338606911949],"aabb_xy":[[0.09597699595640238,-1.0135959571786577],[0.1865342257187009,-0.8855959584822903]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_5","position":[-0.4842652809166076,-1.158187236947127,0.71338606911949],"aabb_xy":[[-0.5217652810222004,-1.165009398800108],[-0.4467652808110146,-1.1513650750941458]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_6","position":[-0.3825894674490493,-0.4762260413392201,0.71338606911949],"aabb_xy":[[-0.44658947073875743,-0.5195609603431376],[-0.3185894641593412,-0.4328911223353024]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[-0.2991221453978503,-1.8102011245054932,0.71338606911949],"aabb_xy":[[-0.3486025666118091,-1.8742011224183452],[-0.24964172418389152,-1.7462011265926416]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_8","position":[-0.07964551932094843,1.5547928054270979,0.71338606911949],"aabb_xy":[[-0.1296455206047884,1.5048139510364755],[-0.029645518037108475,1.6047716598177197]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_9","position":[-0.23790033422050577,-1.321988075518662,0.71338606911949],"aabb_xy":[[-0.30790033685709206,-1.3420929405145272],[-0.1679003315839194,-1.3018832105227962]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_10","position":[0.09994443683257481,0.9586727429944717,0.71338606911949],"aabb_xy":[[0.06616887764188183,0.9446342477813067],[0.13371999602326778,0.9727112382076367]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_11","position":[-0.10641519525846987,1.1168014138090832,0.71338606911949],"aabb_xy":[[-0.1239618901745888,1.0793014122448321],[-0.08886850034235094,1.1543014153733346]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_12","position":[-0.4120864414151073,-1.3092690366713744,0.71338606911949],"aabb_xy":[[-0.4570790281335577,-1.354269035945823],[-0.3670938546966569,-1.2642690373969254]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_13","position":[0.5170639724637207,-2.2042703627120046,0.71338606911949],"aabb_xy":[[0.453063972086187,-2.254015629562817],[0.5810639728412542,-2.1545250958611923]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[-0.0964362212439448,1.2933742302548188,0.71338606911949],"aabb_xy":[[-0.14641363810919836,1.24337422876557],[-0.0464588043786912,1.3433742317440671]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_15","position":[-0.1664352611014971,-2.0886127482110357,0.71338606911949],"aabb_xy":[[-0.22643526135289824,-2.1428940732475006],[-0.10643526085009589,-2.034331423174571]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_16","position":[0.6370752952281098,1.2024262180198315,0.71338606911949],"aabb_xy":[[0.6331614220326872,1.1936772026132747],[0.6409891684235322,1.2111752334263883]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.15940554508904592,-1.8740820618236596,0.71338606911949],"aabb_xy":[[0.10941053412959392,-1.9240820608592515],[0.209400556048498,-1.824082062788068]]},{"name":"lh_bulk_pipette_tip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m02_18","position":[-0.6579160020170853,1.8161596090141656,0.71338606911949],"aabb_xy":[[-0.6627595967783154,1.8113079565351815],[-0.6530724072558555,1.8210112614931497]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_19","position":[0.6033194751946054,0.02151175449508136,0.71338606911949],"aabb_xy":[[0.5605527683151852,-0.042488248926721095],[0.6460861820740256,0.08551175791688381]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_20","position":[-0.44463660873680627,-0.6248099091355608,0.71338606911949],"aabb_xy":[[-0.47460416564663194,-0.6548099094334466],[-0.4146690518269806,-0.5948099088376751]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_21","position":[-0.07863911812642022,-1.8838955685928802,0.71338606911949],"aabb_xy":[[-0.09452361139174535,-1.8982485088917045],[-0.06275462486109505,-1.8695426282940564]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_22","position":[0.6527879877667402,-0.11845095943436412,0.71338606911949],"aabb_xy":[[0.6328969478864,-0.131106770719061],[0.6726790276470805,-0.10579514814966731]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_23","position":[0.011088770371413426,-1.1663181477807645,0.71338606911949],"aabb_xy":[[-0.06891122990219355,-1.239267695606481],[0.0910887706450204,-1.0933685999550475]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_24","position":[0.23829641724913952,-1.3175447606704611,0.71338606911949],"aabb_xy":[[0.2007964157335078,-1.328771533686606],[0.27579641876477123,-1.3063179876543158]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_25","position":[-0.42660830067651456,1.68574397237357,0.71338606911949],"aabb_xy":[[-0.4906082999706828,1.6217578320047161],[-0.36260830138234634,1.7497301127424245]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_26","position":[0.6755345669548278,-0.5825910854010572,0.71338606911949],"aabb_xy":[[0.6599787975445627,-0.5981415186454644],[0.6910903363650932,-0.56704065215665]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_27","position":[0.5159765414237132,-0.6361702790224177,0.71338606911949],"aabb_xy":[[0.4934774056974862,-0.6586702798006807],[0.5384756771499402,-0.6136702782441548]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7017680895308055,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3082.png","name":"3082"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7500.png","name":"7500"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6831.png","name":"6831"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2849.png","name":"2849"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/949.png","name":"949"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":643.5917089033563,"rotation_z_degrees":130.83626085368502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0029225715401934894,-0.008348113394715568,-0.008413598718633026]},{"name":"camera_2","offset_m":[-0.017786261600361918,0.016044104320806548,0.009001641558626532]},{"name":"camera_3","offset_m":[-0.00414590698257308,-0.010179627482635664,-0.006200722833242956]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0013730201326878065,-0.0016530133811711925,-0.001187917628858699],"end_effector_yaw_offset_degrees":0.2996851009000512},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0014860593566267566,0.0007463325467253782,-0.0001555761800883682],"end_effector_yaw_offset_degrees":0.9756479420155795},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.000592105287808209,-0.001046922545449296,0.0019240911093675898],"end_effector_yaw_offset_degrees":0.6012992485542088},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006901505422487887,0.0011799251128618762,0.0008515780856016958],"end_effector_yaw_offset_degrees":-0.8886006125322687},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00010886308880246349,-0.0013386128813229368,0.0016217708448611366],"end_effector_yaw_offset_degrees":-0.905930747033342},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014578844984768588,0.0013376047476182373,0.0009958921248749471],"end_effector_yaw_offset_degrees":0.10757499933572334}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004500389146330135,0.003605112440278173],"position_m":[0.3245003891463301,0.3567051124402782,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.00294358196679173,-0.0018774031110379342],"position_m":[0.17705641803320826,-0.03547740311103793,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0046602408381933155,0.002878493231838153],"position_m":[0.27666024083819335,-0.3644215067681619,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004598147248474371,0.0030331051148607914],"position_m":[0.34309814724847437,0.1115331051148608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"28cc8d3380a28d5cdda9619e7f2063a3c4820c80c5114c6cb9b43ec0053587b4","episode_index":65,"episode_name":"episode_0065"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0065.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_3082/tex_ceiling_textures_949/tex_floor_textures_2849/tex_table_textures_7500/tex_wall_textures_6831","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6146473612956239777,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6146473612956239777,"visual_seed":6146473612956239777,"scene_id":"lab_003","finished_at":"2026-09-06T17:58:06"} +{"episode_id":"ep_000066","started_at":"2026-09-06T17:58:12","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_0","position":[0.44574240241615093,-1.0021220689551975,0.71338606911949],"aabb_xy":[[0.42585136253581074,-1.0147778802398946],[0.46563344229649123,-0.9894662576705009]]},{"name":"wc_watch_glass_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m02_1","position":[0.260224249966306,0.9136221516487253,0.71338606911949],"aabb_xy":[[0.22973999983927584,0.8636221518672293],[0.29070850009333615,0.9636221514302212]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_2","position":[-0.44129291993276315,-1.807316097421162,0.71338606911949],"aabb_xy":[[-0.5212929173363565,-1.887308668619345],[-0.3612929225291697,-1.7273235262229794]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_3","position":[0.03744887181693746,-1.2707740894817334,0.71338606911949],"aabb_xy":[[-5.11284752373678e-05,-1.274815564882337],[0.07494887210911227,-1.26673261408113]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_4","position":[-0.6575223721139969,-2.550115083723897,0.71338606911949],"aabb_xy":[[-0.686171704474413,-2.5787606430009724],[-0.6288730397535806,-2.521469524446821]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_5","position":[0.6607535757376144,-1.6399885756814396,0.71338606911949],"aabb_xy":[[0.6257535757611186,-1.6494531917290565],[0.6957535757141102,-1.6305239596338232]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_6","position":[-0.020468332527654898,0.886054215782639,0.71338606911949],"aabb_xy":[[-0.02809260061783314,0.8784209922460955],[-0.012844064437476651,0.8936874393191829]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_7","position":[-0.07703320925409995,-0.3572505347093924,0.71338606911949],"aabb_xy":[[-0.08860219000103653,-0.38225053482632415],[-0.06546422850716338,-0.33225053459246073]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.633729322347133,0.9802019462697773,0.71338606911949],"aabb_xy":[[-0.6512293225921822,0.9627021584302105],[-0.6162293221020835,0.9977017341093442]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_9","position":[0.4238267008955541,-2.537904693007864,0.71338606911949],"aabb_xy":[[0.41367368534140453,-2.573974234580604],[0.4339797164497033,-2.5018351514351234]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_10","position":[-0.08212356306292778,0.17276337656587248,0.71338606911949],"aabb_xy":[[-0.14612356511265978,0.13266889347656452],[-0.018123561013195788,0.21285785965518045]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_11","position":[-0.29915548176107637,0.9985416879765978,0.71338606911949],"aabb_xy":[[-0.3491554834225711,0.948543245720895],[-0.24915548009958158,1.0485401302323003]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_12","position":[0.3935534106087455,-1.7463779817061629,0.71338606911949],"aabb_xy":[[0.3285534096516183,-1.7983261936398685],[0.4585534115658727,-1.6944297697724573]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_13","position":[0.3387674030168488,-1.9389792563379218,0.71338606911949],"aabb_xy":[[0.2937748162983984,-1.98397925561237],[0.38375998973529923,-1.8939792570634726]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_14","position":[0.35943841339347493,-2.248121930628128,0.71338606911949],"aabb_xy":[[0.3044646913571421,-2.3031219301923618],[0.41441213542980787,-2.1931219310638954]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.10729800224347763,1.6722647125465406,0.71338606911949],"aabb_xy":[[-0.12479793567746099,1.6547647126263063],[-0.08979806880949424,1.6897647124667754]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.41227077869210255,-1.4639626717633407,0.71338606911949],"aabb_xy":[[-0.41997396936617953,-1.4716720424620786],[-0.40456758801802545,-1.4562533010646028]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_17","position":[0.1176079313034728,-1.5070198528590184,0.71338606911949],"aabb_xy":[[0.11270863899690929,-1.5346967721615872],[0.12250722361003628,-1.4793429335564496]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_18","position":[-0.48083158409542376,-0.2579732460858435,0.71338606911949],"aabb_xy":[[-0.5508315856977033,-0.27140603928750107],[-0.4108315824931443,-0.2445404528841859]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_19","position":[-0.5520579106292749,0.04295947620768281,0.71338606911949],"aabb_xy":[[-0.5895579112938535,0.02727241820746062],[-0.5145579099646961,0.05864653420790499]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_20","position":[0.5848272664075249,-0.6663507915024407,0.71338606911949],"aabb_xy":[[0.5208272661335467,-0.7164168916997287],[0.6488272666815031,-0.6162846913051527]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[-0.5849411604484549,-1.7636272212625586,0.71338606911949],"aabb_xy":[[-0.5945727966688845,-1.7732645340422672],[-0.5753095242280253,-1.7539899084828494]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_22","position":[0.5239154206696304,-2.392431824756957,0.71338606911949],"aabb_xy":[[0.4767860416677946,-2.4564318258013587],[0.5710447996714659,-2.3284318237125547]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_23","position":[0.1585049274764394,-1.699607352979915,0.71338606911949],"aabb_xy":[[0.0785049260463122,-1.7791245079925246],[0.2385049289065666,-1.6200901979673057]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_24","position":[0.5708682322703684,-0.07691825233034288,0.71338606911949],"aabb_xy":[[0.48714600677028586,-0.16691825586503883],[0.6545904577704508,0.013081751204353065]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[0.6851898030448982,-2.2687911807015952,0.71338606911949],"aabb_xy":[[0.672317899543958,-2.3487911811154314],[0.6980617065458383,-2.188791180287759]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_26","position":[0.6192663610920255,0.7295695143989063,0.71338606911949],"aabb_xy":[[0.6032044336335077,0.6445695125863143],[0.635328288550543,0.814569516211498]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_27","position":[0.6077760075173182,-1.4689572672493623,0.71338606911949],"aabb_xy":[[0.557776732348882,-1.5189572685253092],[0.6577752826857544,-1.4189572659734149]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_28","position":[-0.1595627249308511,-1.8767383599534764,0.71338606911949],"aabb_xy":[[-0.19635735805575738,-1.9136442350500589],[-0.12276809180594483,-1.8398324848568943]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_29","position":[0.6590702567280287,1.5361940864302306,0.71338606911949],"aabb_xy":[[0.6215702569109951,1.5315558751190887],[0.6965702565450622,1.5408322977413724]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_30","position":[-0.15770891487742977,-2.0157143826444943,0.71338606911949],"aabb_xy":[[-0.1801736848488349,-2.0382143835233544],[-0.13524414490602465,-1.9932143817656334]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_31","position":[0.36481015847743303,-1.4960178386673308,0.71338606911949],"aabb_xy":[[0.30081446108233645,-1.5600178369680393],[0.4288058558725296,-1.432017840366622]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_32","position":[0.4879653493967089,0.44998597535706963,0.71338606911949],"aabb_xy":[[0.43296535022011934,0.39499630058211194],[0.5429653485732984,0.5049756501320273]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_33","position":[0.2563101818379998,1.2310251440564803,0.71338606911949],"aabb_xy":[[0.16662310552988435,1.1410251438020298],[0.34599725814611526,1.3210251443109309]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6942990466468892,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2348.png","name":"2348"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7105.png","name":"7105"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8792.png","name":"8792"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/296.png","name":"296"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/443.png","name":"443"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":647.5975488204028,"rotation_z_degrees":84.21522049068038,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01568565738107629,-0.017408640912954226,0.01618205027894685]},{"name":"camera_2","offset_m":[-0.004527271010094829,0.008973335193899121,-0.014961913552275021]},{"name":"camera_3","offset_m":[0.01847796770295938,-0.013599003720513817,0.017597615212321626]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019699537926116495,0.0017841085321300223,-0.0015790292047900341],"end_effector_yaw_offset_degrees":0.5661282837525885},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0010974693920991919,-0.00033467010704331737,0.0007332244676616687],"end_effector_yaw_offset_degrees":0.1552291625072666},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0006445949577111615,-0.001088687271127911,-0.0006178177575278036],"end_effector_yaw_offset_degrees":0.7859482780038685},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0016802178651390853,0.0014209514137860433,0.001907088725825368],"end_effector_yaw_offset_degrees":0.9808061557350267},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0008838822596839531,-0.0015208626242713434,0.0008071309149600015],"end_effector_yaw_offset_degrees":-0.60717572303962},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0013591450243408084,-0.0009166159578997846,-0.0008549885061673312],"end_effector_yaw_offset_degrees":-0.447567336274838}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003411843711025872,-0.0037840628238353935],"position_m":[0.3234118437110259,0.3493159371761646,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0035093773544430757,-0.001589159028548177],"position_m":[0.18350937735444306,-0.035189159028548175,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002805708998456633,0.00498098192289586],"position_m":[0.2691942910015434,-0.36231901807710415,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0003601804397074214,-0.0028954475595747396],"position_m":[0.3381398195602926,0.10560455244042526,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"44687d115f7828f94a5fab4aa14ec4749231b952573bfa01ec1390cb82afca93","episode_index":66,"episode_name":"episode_0066"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0066.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2348/tex_ceiling_textures_443/tex_floor_textures_296/tex_table_textures_7105/tex_wall_textures_8792","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2152114287578154855,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2152114287578154855,"visual_seed":2152114287578154855,"scene_id":"lab_003","finished_at":"2026-09-06T18:04:57"} +{"episode_id":"ep_000067","started_at":"2026-09-06T18:05:03","dimensions":{"distractor":{"count":20,"items":[{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_0","position":[-0.3182266149880518,0.9768970948922058,0.71338606911949],"aabb_xy":[[-0.33532869294642,0.959790289360936],[-0.30112453702968367,0.9940039004234755]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_1","position":[-0.2934314438931809,-1.1844660584360347,0.71338606911949],"aabb_xy":[[-0.3068779705272242,-1.197935910089126],[-0.27998491725913754,-1.1709962067829434]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_2","position":[0.12032741271490843,-2.100173848774556,0.71338606911949],"aabb_xy":[[0.1033173154248578,-2.1163083372728293],[0.13733751000495908,-2.0840393602762814]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.3340403847328957,-1.4629067378211424,0.71338606911949],"aabb_xy":[[-0.39404038532891184,-1.517719210366366],[-0.2740403841368795,-1.408094265275919]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_4","position":[-0.4832541829137986,-0.5379990720188181,0.71338606911949],"aabb_xy":[[-0.5332384186219759,-0.5879990708323136],[-0.43326994720562134,-0.48799907320532243]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_5","position":[0.11931679357040614,-1.913955635974384,0.71338606911949],"aabb_xy":[[0.039316793296799164,-1.9869051838001008],[0.19931679384401313,-1.8410060881486674]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.02481461399184426,-1.6291468728810636,0.71338606911949],"aabb_xy":[[0.015654735047967657,-1.6356780909246007],[0.03397449293572086,-1.6226156548375266]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_7","position":[-0.40254033254342136,1.203436093746447,0.71338606911949],"aabb_xy":[[-0.4065008163131557,1.1957682291609266],[-0.398579848773687,1.2111039583319678]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_8","position":[-0.63801183866801,0.3287769656098214,0.71338606911949],"aabb_xy":[[-0.6666611710284261,0.3001314063327455],[-0.6093625063075937,0.3574225248868971]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_9","position":[-0.3485165738876114,1.6617227430490726,0.71338606911949],"aabb_xy":[[-0.41251657118995777,1.6173563160812157],[-0.28451657658526497,1.7060891700169292]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_10","position":[-0.029211537489847283,-1.1539924444731766,0.71338606911949],"aabb_xy":[[-0.08921153774124846,-1.2082737695096413],[0.030788462761553895,-1.099711119436712]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_11","position":[-0.11779728521819477,0.7428521838181674,0.71338606911949],"aabb_xy":[[-0.1977972884822079,0.7292921515092541],[-0.03779728195418164,0.7564122161270808]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_12","position":[0.4953137539094177,-0.38741499083790787,0.71338606911949],"aabb_xy":[[0.4717286304455229,-0.4524149930833397],[0.5188988773733125,-0.32241498859247614]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_13","position":[-0.1503706880854183,-2.4946395422193492,0.71338606911949],"aabb_xy":[[-0.1853706879814372,-2.503013777731289],[-0.11537068818939945,-2.4862653067074088]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_14","position":[0.09387120981586217,1.4277949726266788,0.71338606911949],"aabb_xy":[[0.06932499419311146,1.3975460760776417],[0.1184174254386129,1.4580438691757158]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_15","position":[-0.5400281181405526,-0.26614602489814754,0.71338606911949],"aabb_xy":[[-0.5770622275686124,-0.30052323223185695],[-0.5029940087124929,-0.23176881756443804]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_16","position":[-0.07179996799824051,1.3579231256684623,0.71338606911949],"aabb_xy":[[-0.13679996655531335,1.3281705922545797],[-0.006799969441167675,1.387675659082345]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_17","position":[0.5540424878407086,1.0294334373717318,0.71338606911949],"aabb_xy":[[0.5484608162065797,1.0169334375539563],[0.5596241594748373,1.0419334371895073]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_18","position":[0.25341703266139637,-2.137304418345587,0.71338606911949],"aabb_xy":[[0.20341703401547517,-2.187223962005049],[0.30341703130731756,-2.087384874686124]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_19","position":[0.47169054726292825,1.5318706199182288,0.71338606911949],"aabb_xy":[[0.38169054753975407,1.5087972673830488],[0.5616905469861024,1.5549439724534084]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.701484992156874,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5741.png","name":"5741"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5741.png","name":"5741"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6188.png","name":"6188"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9713.png","name":"9713"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5428.png","name":"5428"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5664.png","name":"5664"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":549.305894026664,"rotation_z_degrees":22.811179889197536,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008101915482597085,0.016219143064402298,-0.009102558606404295]},{"name":"camera_2","offset_m":[-0.019620907157923636,-0.006649685943400506,0.0059179238836494265]},{"name":"camera_3","offset_m":[-0.011734940022774016,0.001382851542520179,0.010070721837171951]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014393957080956633,-0.00037335836282663317,-0.0019418851083156336],"end_effector_yaw_offset_degrees":-0.014433250953997057},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0013942855011454662,-0.0014704701518239252,0.0007984820598544149],"end_effector_yaw_offset_degrees":-0.3937732286003004},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0018927859262933425,-0.00018576122028702885,-0.001593850428299818],"end_effector_yaw_offset_degrees":0.311870700947801},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0009834872083162947,0.0014054454584894178,0.0001520748549272686],"end_effector_yaw_offset_degrees":0.06565588038545367},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018725022716870826,0.0017203623443682722,-0.0006668897248361181],"end_effector_yaw_offset_degrees":-0.305358891782338},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005592051547653929,0.0009123143568117507,0.0007961337041048956],"end_effector_yaw_offset_degrees":-0.09632236502539593}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0046342588056959505,-0.0046246962377377585],"position_m":[0.32463425880569596,0.34847530376226227,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0016455818335957464,-0.0011064516247791755],"position_m":[0.17835441816640424,-0.03470645162477917,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0007271857729999045,-0.0029805928159890396],"position_m":[0.2727271857729999,-0.3702805928159891,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003192884347397492,0.00023299718393483913],"position_m":[0.34169288434739753,0.10873299718393484,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"536c4736c7d4256298315a12099718f856a2ec01ba6e8744ab8ea0da2278693f","episode_index":67,"episode_name":"episode_0067"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0067.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_5741/tex_ceiling_textures_5664/tex_floor_textures_5428/tex_table_textures_6188/tex_wall_textures_9713","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6438992732396595818,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6438992732396595818,"visual_seed":6438992732396595818,"scene_id":"lab_003","finished_at":"2026-09-06T18:11:27"} +{"episode_id":"ep_000068","started_at":"2026-09-06T18:11:32","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_0","position":[-0.02111407119080677,1.6140520609384317,0.71338606911949],"aabb_xy":[[-0.08270483041479959,1.550052062829385],[0.04047668803318605,1.6780520590474788]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_1","position":[0.13885704572533009,1.558980100259713,0.71338606911949],"aabb_xy":[[0.11594133284028021,1.5360758031232897],[0.16177275861038,1.5818843973961367]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.10239862973980562,-1.8201147928069594,0.71338606911949],"aabb_xy":[[0.06489862939157787,-1.8319061883880425],[0.13989863008803338,-1.8083233972258754]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_3","position":[0.23224561345425554,-1.0260933206006768,0.71338606911949],"aabb_xy":[[0.22483315791286704,-1.0319445310223048],[0.23965806899564399,-1.0202421101790489]]},{"name":"st_hose_barb_t_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m01_4","position":[-0.3594918051298558,1.717298701122965,0.71338606911949],"aabb_xy":[[-0.39449180432267406,1.7063316551253023],[-0.3244918059370375,1.7282657471206273]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_5","position":[-0.5882803929962481,-0.756875340061933,0.71338606911949],"aabb_xy":[[-0.6001524760077491,-0.8418753397555834],[-0.5764083099847469,-0.6718753403682827]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_6","position":[-0.10940044268493632,1.3618646490136563,0.71338606911949],"aabb_xy":[[-0.1439915255389815,1.296864648728625],[-0.07480935983089108,1.4268646492986872]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_7","position":[0.26521119454397535,-2.209133464608262,0.71338606911949],"aabb_xy":[[0.20121119743186971,-2.2581658344026727],[0.3292111916560811,-2.1601010948138515]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.4686269270333465,-1.772842570216385,0.71338606911949],"aabb_xy":[[0.4186338149241547,-1.8228425708905809],[0.5186200391425384,-1.7228425695421896]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.26546200933222186,1.4858054811310137,0.71338606911949],"aabb_xy":[[-0.29975892034996243,1.451508594921072],[-0.23116509831448118,1.5201023673409546]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_10","position":[0.5129083956707978,0.8201575346789514,0.71338606911949],"aabb_xy":[[0.44890839541032707,0.7751487353260232],[0.5769083959312686,0.8651663340318793]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_11","position":[0.08476662767623289,1.3485501104366087,0.71338606911949],"aabb_xy":[[0.07918495604210413,1.3360501106188332],[0.09034829931036165,1.3610501102543842]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_12","position":[-0.6143930580552255,0.4419994511045524,0.71338606911949],"aabb_xy":[[-0.6684086543371254,0.3779994482122952],[-0.5603774617733254,0.5059994539968096]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_13","position":[-0.6131452697624511,1.181717044506554,0.71338606911949],"aabb_xy":[[-0.6180445620690145,1.154040125203985],[-0.6082459774558875,1.2093939638091225]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_14","position":[0.44660134491951675,0.3913899861416197,0.71338606911949],"aabb_xy":[[0.44126376925351213,0.36638998521247995],[0.45193892058552126,0.4163899870707595]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_15","position":[-0.03848111794388209,-0.8760730734769884,0.71338606911949],"aabb_xy":[[-0.04444765688461788,-0.8820342181363523],[-0.032514579003146304,-0.8701119288176242]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_16","position":[0.6165632418477938,1.2869536084857693,0.71338606911949],"aabb_xy":[[0.607849272797859,1.264453607826581],[0.625277210897728,1.3094536091449573]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_17","position":[-0.5171198163848935,1.715799111233626,0.71338606911949],"aabb_xy":[[-0.5224523310395064,1.7104747829883906],[-0.5117873017302805,1.7211234394788617]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_18","position":[0.6428019100675659,1.7304374090064765,0.71338606911949],"aabb_xy":[[0.5788019093640966,1.6844190265335557],[0.7068019107710353,1.7764557914793977]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_19","position":[-0.28587711585724396,-0.8734268051898668,0.71338606911949],"aabb_xy":[[-0.3033770492912273,-0.8909268051101011],[-0.26837718242326053,-0.855926805269632]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_20","position":[-0.6760517132465051,-1.2643822322394653,0.71338606911949],"aabb_xy":[[-0.6886544123835817,-1.2769776284643308],[-0.6634490141094288,-1.2517868360145998]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_21","position":[0.42602089507759877,-0.8923276829078959,0.71338606911949],"aabb_xy":[[0.36602089482619754,-0.9466090079443605],[0.4860208953289999,-0.8380463578714312]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_22","position":[-0.41544250887047046,0.5067984498857014,0.71338606911949],"aabb_xy":[[-0.4499049868835582,0.5001347727027785],[-0.38098003085738263,0.5134621270686242]]},{"name":"st_lab_spoon_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m01_23","position":[-0.049467831602100554,0.91669230815033,0.71338606911949],"aabb_xy":[[-0.13446783001952378,0.8318180126880451],[0.03553216681532268,1.001566603612615]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_24","position":[-0.4525610793507987,1.5034338098424302,0.71338606911949],"aabb_xy":[[-0.5075348013871316,1.448433810278197],[-0.3975873573144658,1.5584338094066634]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_25","position":[0.21944426515356308,-0.6992917875361286,0.71338606911949],"aabb_xy":[[0.2080825305002769,-0.7106602539424165],[0.2308059998068492,-0.6879233211298403]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995134721042199,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6734.png","name":"6734"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3341.png","name":"3341"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1108.png","name":"1108"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/134.png","name":"134"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1159.png","name":"1159"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":598.6975236651035,"rotation_z_degrees":156.1779434502835,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005590990913538759,-0.019996308321096078,-0.0013116624529301568]},{"name":"camera_2","offset_m":[0.002982388145619474,0.015936403489033326,0.00813085924228344]},{"name":"camera_3","offset_m":[-0.0011606159005244435,0.004804785160316589,-0.007449651225893037]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0001868244278589457,0.0011328175552301417,0.0011217251261541037],"end_effector_yaw_offset_degrees":0.5731199227110695},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.00010762549242318521,0.0009033586427070273,0.001467887718447553],"end_effector_yaw_offset_degrees":0.5870584044453551},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009712285886663576,-0.0009513044588011965,0.0005923824734913406],"end_effector_yaw_offset_degrees":0.9232694899420111},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0015514006490035207,0.001664672157093679,0.00036444385813061116],"end_effector_yaw_offset_degrees":-0.08387840942302827},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0006412803299523039,0.0008743440266631166,-0.0005793793435748937],"end_effector_yaw_offset_degrees":0.9826586079848636},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.001978852510374473,0.0019352130449919232,-0.0004511628577008287],"end_effector_yaw_offset_degrees":-0.2834288263844684}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[3.085843993645351e-05,0.000264441296103232],"position_m":[0.32003085843993645,0.3533644412961033,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0020913669298295327,-0.00038640270468976584],"position_m":[0.18209136692982952,-0.033986402704689764,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00030723537006117387,8.63042997229389e-05],"position_m":[0.2723072353700612,-0.36721369570027707,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0027975958562381333,-0.004455439423402659],"position_m":[0.3357024041437619,0.10404456057659733,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"530fa81f865c735d6147b35dc2fc91e13ae0a326401682bf6e244b84350e3864","episode_index":68,"episode_name":"episode_0068"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0068.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6734/tex_ceiling_textures_1159/tex_floor_textures_134/tex_table_textures_3341/tex_wall_textures_1108","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6585297328905083438,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6585297328905083438,"visual_seed":6585297328905083438,"scene_id":"lab_003","finished_at":"2026-09-06T18:18:06"} +{"episode_id":"ep_000069","started_at":"2026-09-06T18:18:12","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_0","position":[0.1535699282297074,-1.63716591378663,0.71338606911949],"aabb_xy":[[0.13689279223661188,-1.6538658377605604],[0.1702470642228029,-1.6204659898126998]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_1","position":[0.41891538380457827,-0.728500986305167,0.71338606911949],"aabb_xy":[[0.3717860048027425,-0.792500987349569],[0.4660447628064138,-0.6645009852607651]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_2","position":[-0.1956396238445876,0.3825458393909167,0.71338606911949],"aabb_xy":[[-0.28563962058019776,0.32936237607362207],[-0.10563962710897734,0.4357293027082111]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_3","position":[-0.6063656006446562,-2.128841872721549,0.71338606911949],"aabb_xy":[[-0.6663656012406723,-2.1836543452667723],[-0.54636560004864,-2.0740294001763253]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_4","position":[0.37267083573893456,-1.1086069604285416,0.71338606911949],"aabb_xy":[[0.36871035196920027,-1.1162748250140622],[0.37663131950866896,-1.100939095843021]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.4212097091199553,-0.9161214715912824,0.71338606911949],"aabb_xy":[[-0.4363818784015887,-0.9312903285194858],[-0.406037539838322,-0.9009526146630791]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_6","position":[0.6060688997053729,-0.9869941870182288,0.71338606911949],"aabb_xy":[[0.5973549306554382,-1.0094941876774168],[0.6147828687553072,-0.9644941863590405]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_7","position":[-0.5660288222532363,-1.4772484159012162,0.71338606911949],"aabb_xy":[[-0.6160117724407155,-1.5272484155437764],[-0.5160458720657568,-1.4272484162586556]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[-0.14149768712684907,-1.6586485699778135,0.71338606911949],"aabb_xy":[[-0.18004337995205008,-1.6971943410340025],[-0.102951994301648,-1.620102798921625]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_9","position":[-0.4776982556729796,-0.5559238046555635,0.71338606911949],"aabb_xy":[[-0.5416982577227116,-0.5960182877448714],[-0.4136982536232476,-0.5158293215662555]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_10","position":[-0.36802296531904066,0.9122048654335151,0.71338606911949],"aabb_xy":[[-0.4179960308515562,0.8622048656209822],[-0.3180498997865252,0.962204865246048]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_11","position":[0.23273219214889584,-0.7152446556719141,0.71338606911949],"aabb_xy":[[0.19593755902398957,-0.7521505307684964],[0.2695268252738021,-0.6783387805753318]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_12","position":[0.6003409195563554,-0.835760358997919,0.71338606911949],"aabb_xy":[[0.5939271059131703,-0.8421701792455873],[0.6067547331995402,-0.8293505387502507]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_13","position":[0.58485478345632,0.44767004393830545,0.71338606911949],"aabb_xy":[[0.5011325579562376,0.3576700404036095],[0.6685770089564025,0.5376700474730014]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_14","position":[0.6480005869186434,-2.00958732456332,0.71338606911949],"aabb_xy":[[0.5980231700533898,-2.059587326052568],[0.697978003783897,-1.9595873230740712]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_15","position":[-0.5982770585665511,0.12177672513395388,0.71338606911949],"aabb_xy":[[-0.655907527453822,0.06177672620724327],[-0.5406465896792803,0.18177672406066445]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_16","position":[0.16591481483561088,-1.1044800642476513,0.71338606911949],"aabb_xy":[[0.1585023592942224,-1.1103312746692793],[0.17332727037699935,-1.0986288538260234]]},{"name":"lh_reagent_reservoir_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m02_17","position":[-0.362935569487775,1.601215548308867,0.71338606911949],"aabb_xy":[[-0.42793556764369406,1.574919303758955],[-0.29793557133185594,1.6275117928587794]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_18","position":[-0.36322214214075793,-2.1583020899781853,0.71338606911949],"aabb_xy":[[-0.40072214231262987,-2.191002825361092],[-0.325722141968886,-2.1256013545952777]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_19","position":[-0.6835056234277646,0.5146670779891083,0.71338606911949],"aabb_xy":[[-0.689600251315883,0.5060976834374397],[-0.6774109955396463,0.5232364725407771]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_20","position":[-0.11411713002156687,-0.05076982733914637,0.71338606911949],"aabb_xy":[[-0.13121920797993503,-0.06787663287041612],[-0.0970150520631987,-0.03366302180787661]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_21","position":[0.036013154490086574,-1.3207084817683965,0.71338606911949],"aabb_xy":[[-0.0014868456155063753,-1.3275306436213776],[0.07351315459567953,-1.3138863199154154]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.697935036464489,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7332.png","name":"7332"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9979.png","name":"9979"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6616.png","name":"6616"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2197.png","name":"2197"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7311.png","name":"7311"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":696.7930884420457,"rotation_z_degrees":229.96144492704502,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0033838592210442726,-0.012440598117588957,0.015124565728976028]},{"name":"camera_2","offset_m":[-0.015366450584802483,-0.0010563024225941492,-0.015801727995257225]},{"name":"camera_3","offset_m":[0.018094566580998433,-0.003065983363218585,0.012018488901065879]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018766004514856167,0.00019261844007435747,0.0009589971520383074],"end_effector_yaw_offset_degrees":0.46437511142946386},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0005447085076289169,-0.0003319035268785609,-1.4384177917920512e-05],"end_effector_yaw_offset_degrees":0.6707646072353644},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016019398450585936,0.001007513416430249,-0.0004032492150794914],"end_effector_yaw_offset_degrees":-0.3973460607211703},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00022196488828294097,0.00045761438214808516,-0.0003542599195440882],"end_effector_yaw_offset_degrees":-0.6289439992010306},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.001301349536898715,4.592361338335172e-05,0.0003734130364906577],"end_effector_yaw_offset_degrees":-0.13255451867883106},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000591141186555275,-0.0007143607415427526,-0.0012531542367464712],"end_effector_yaw_offset_degrees":0.8892870637960133}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0011686833198261614,0.004393524558478536],"position_m":[0.3211686833198262,0.35749352455847855,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0026726986426329337,-0.0020210622154902347],"position_m":[0.17732730135736707,-0.03562106221549023,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0005016755368232517,0.0017829781236129794],"position_m":[0.2714983244631768,-0.365517021876387,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003790414555418532,0.0024101935986022716],"position_m":[0.3347095854445815,0.11091019359860227,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"af3dea207363f9043f893f6a2e8ab12d2ff39cba153ffdf5401d430f4b379216","episode_index":69,"episode_name":"episode_0069"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0069.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_7332/tex_ceiling_textures_7311/tex_floor_textures_2197/tex_table_textures_9979/tex_wall_textures_6616","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3659057510502036998,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3659057510502036998,"visual_seed":3659057510502036998,"scene_id":"lab_003","finished_at":"2026-09-06T18:24:59"} +{"episode_id":"ep_000070","started_at":"2026-09-06T18:25:05","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_0","position":[0.6489642449660533,0.13285982730237222,0.71338606911949],"aabb_xy":[[0.5849642485704802,0.06889653888363864],[0.7129642413616264,0.19682311572110575]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_1","position":[-0.23697871920174768,-1.2844261803507109,0.71338606911949],"aabb_xy":[[-0.2544787183361148,-1.2943058073882987],[-0.21947872006738048,-1.274546553313123]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_2","position":[-0.15498747998379658,-1.0161070937711263,0.71338606911949],"aabb_xy":[[-0.18331718993233678,-1.0205678359648434],[-0.12665777003525633,-1.0116463515774092]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_3","position":[0.4913907344413604,1.6714649184443142,0.71338606911949],"aabb_xy":[[0.4263907365597127,1.6203412547377736],[0.5563907323230083,1.7225885821508553]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_4","position":[0.005506766267525887,-1.1763107435580105,0.71338606911949],"aabb_xy":[[-0.012699057393721791,-1.187336144140002],[0.023712589928773564,-1.1652853429760188]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_5","position":[-0.12225900819295776,0.16959890048785775,0.71338606911949],"aabb_xy":[[-0.12835363608107608,0.16102950593618906],[-0.11616438030483943,0.1781682950395265]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[-0.42280334643432843,-1.7425115874867616,0.71338606911949],"aabb_xy":[[-0.42775936661920977,-1.7650115876888839],[-0.4178473262494473,-1.7200115872846407]]},{"name":"st_rubber_stopper_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m02_7","position":[0.40977299756481234,-1.9431158542417264,0.71338606911949],"aabb_xy":[[0.39841126291152623,-1.9544843206480143],[0.42113473221809855,-1.931747387835438]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_8","position":[-0.6009929615920468,1.5358114862380101,0.71338606911949],"aabb_xy":[[-0.6649929636417788,1.4957170031487022],[-0.5369929595423149,1.575905969327318]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_9","position":[0.29205869224959125,-0.520360705516048,0.71338606911949],"aabb_xy":[[0.2729463848916124,-0.5394954843932901],[0.3111709996075701,-0.501225926638806]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_10","position":[-0.32861261478565135,1.3258684063900654,0.71338606911949],"aabb_xy":[[-0.34867102639889164,1.305803319480908],[-0.30855420317241106,1.3459334932992228]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_11","position":[0.6184047257478138,-1.8627188458304822,0.71338606911949],"aabb_xy":[[0.6096234986005776,-1.8714985931190127],[0.6271859528950502,-1.8539390985419522]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_12","position":[0.2891506473002555,0.6667077854686623,0.71338606911949],"aabb_xy":[[0.20415064860818088,0.6347219220737834],[0.37415064599233017,0.6986936488635411]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_13","position":[-0.06036908533018792,0.2549326250840158,0.71338606911949],"aabb_xy":[[-0.08065338805358667,0.23464999994130695],[-0.04008478260678915,0.2752152502267246]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_14","position":[-0.5063896216145268,-0.2573252389776095,0.71338606911949],"aabb_xy":[[-0.5157366291968221,-0.27162886119525353],[-0.4970426140322316,-0.24302161675996548]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_15","position":[0.6212010254124811,0.642921260669707,0.71338606911949],"aabb_xy":[[0.5912093626786108,0.6129212613329064],[0.6511926881463515,0.6729212600065074]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_16","position":[-0.3955660976182072,0.7763788177313051,0.71338606911949],"aabb_xy":[[-0.40733428441286484,0.6913788178260838],[-0.3837979108235498,0.861378817636527]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_17","position":[0.30315762352019904,0.9709444643987881,0.71338606911949],"aabb_xy":[[0.2842732397516889,0.9520585396184353],[0.3220420072887093,0.9898303891791409]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_18","position":[0.17079863138514995,-1.6571574119970656,0.71338606911949],"aabb_xy":[[0.08079863279068003,-1.6734079983104866],[0.2607986299796199,-1.6409068256836445]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_19","position":[0.41168395243848543,-0.24237263739779724,0.71338606911949],"aabb_xy":[[0.4067846601319219,-0.270049556700366],[0.4165832447450489,-0.21469571809522844]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_20","position":[-0.6127565105998937,0.4982747410051509,0.71338606911949],"aabb_xy":[[-0.6256284141008337,0.4182747405913147],[-0.5998846070989534,0.5782747414189869]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_21","position":[-0.1167841665754239,-1.8960666223455913,0.71338606911949],"aabb_xy":[[-0.18078416798341454,-1.947855573869516],[-0.05278416516743322,-1.8442776708216666]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_22","position":[-0.4681781834114871,1.1339009226869328,0.71338606911949],"aabb_xy":[[-0.5321781857542887,1.0889600714428003],[-0.4041781810686855,1.1788417739310653]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_23","position":[0.5838821459640111,0.8296113882419061,0.71338606911949],"aabb_xy":[[0.5672050099709156,0.8129114642679757],[0.6005592819571066,0.8463113122158362]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_24","position":[-0.3349595160413023,-1.2331321090462848,0.71338606911949],"aabb_xy":[[-0.34266270671537935,-1.240841479745023],[-0.32725632536722526,-1.2254227383475467]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_25","position":[-0.6225761481244448,1.7115690955494878,0.71338606911949],"aabb_xy":[[-0.6725535649896983,1.661569094060239],[-0.5725987312591911,1.761569097038736]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7007190429598087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/842.png","name":"842"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/594.png","name":"594"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1378.png","name":"1378"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7046.png","name":"7046"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9242.png","name":"9242"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":665.5858841149565,"rotation_z_degrees":161.84647174564884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011045828264220754,0.016334199264608138,0.011245850488144318]},{"name":"camera_2","offset_m":[-0.016482946213018573,-0.014488869333393994,0.01351730011139898]},{"name":"camera_3","offset_m":[-0.004839419412645256,0.006623656062039608,-0.011383916892106325]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0013698683730854156,0.000365887630136895,0.0012859774672369035],"end_effector_yaw_offset_degrees":-0.39744030045005796},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018090686001143075,-0.0013305303776816962,-0.001103074227641459],"end_effector_yaw_offset_degrees":0.29632801889887506},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001951285916818509,-8.532957295481498e-06,-0.0019189733031752248],"end_effector_yaw_offset_degrees":0.5038622416708187},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014459361795831575,-0.0017154672430556666,-7.575617623845109e-05],"end_effector_yaw_offset_degrees":0.8962307123966471},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014927829296228876,0.0015187755358098375,0.0014976070794109745],"end_effector_yaw_offset_degrees":-0.04133428387119298},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0001949267272792327,0.00017606560427545995,0.001825567852789515],"end_effector_yaw_offset_degrees":-0.14630400727125847}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003930532620665088,-0.004837766334405535],"position_m":[0.32393053262066507,0.3482622336655945,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001406964121168395,0.002821992050738101],"position_m":[0.18140696412116838,-0.030778007949261898,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00025598725661262443,-0.0022875558609609815],"position_m":[0.27225598725661265,-0.369587555860961,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.003458770498815729,0.0034513732845785844],"position_m":[0.34195877049881573,0.11195137328457859,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"549a43e5dc9f4eb38c71035614c90c36a72ca79366503e0e2ce8c30a2d6f7a1e","episode_index":70,"episode_name":"episode_0070"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0070.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_842/tex_ceiling_textures_9242/tex_floor_textures_7046/tex_table_textures_594/tex_wall_textures_1378","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8643041373911430845,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8643041373911430845,"visual_seed":8643041373911430845,"scene_id":"lab_003","finished_at":"2026-09-06T18:31:27"} +{"episode_id":"ep_000071","started_at":"2026-09-06T18:31:33","dimensions":{"distractor":{"count":26,"items":[{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_0","position":[0.2557763320188342,0.9585265464966173,0.71338606911949],"aabb_xy":[[0.24022056260856894,0.9429761132522102],[0.27133210142909947,0.9740769797410246]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_1","position":[0.1784192844336221,1.7198813045510835,0.71338606911949],"aabb_xy":[[0.17238227143295737,1.7138546034821356],[0.18445629743428682,1.7259080056200318]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_2","position":[-0.14334044545014923,-2.0822528154921933,0.71338606911949],"aabb_xy":[[-0.19334044640068201,-2.1138019624957147],[-0.0933404444996164,-2.050703668488672]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_3","position":[-0.40623505478819105,1.0214325490545786,0.71338606911949],"aabb_xy":[[-0.42751306293166325,0.9564325467285055],[-0.38495704664471875,1.0864325513806516]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_4","position":[0.2447604656632214,-0.9872507579890035,0.71338606911949],"aabb_xy":[[0.22775036837317078,-1.0033852464872774],[0.26177056295327206,-0.9711162694907297]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[-0.44619299272118473,-0.3696611255321467,0.71338606911949],"aabb_xy":[[-0.4836929912968055,-0.3823974211957046],[-0.40869299414556387,-0.3569248298685887]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_6","position":[0.5531136666194127,-2.105934949413501,0.71338606911949],"aabb_xy":[[0.5439537876755361,-2.112466167457038],[0.5622735455632893,-2.0994037313699643]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_7","position":[-0.43121096063608105,-2.1286154146903558,0.71338606911949],"aabb_xy":[[-0.44631326209709904,-2.143716936321417],[-0.41610865917506284,-2.113513893059293]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_8","position":[-0.6130146094047737,-0.16918388688514696,0.71338606911949],"aabb_xy":[[-0.6830146127963356,-0.2044996605885778],[-0.5430146060132116,-0.13386811318171607]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_9","position":[-0.4978950686137571,1.5718070712180903,0.71338606911949],"aabb_xy":[[-0.5528950668155018,1.5312851045916525],[-0.4428950704120122,1.6123290378445276]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_10","position":[0.14013945413046214,1.1096895428601092,0.71338606911949],"aabb_xy":[[0.09737274725104197,1.0456895394383068],[0.18290616100988236,1.1736895462819117]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_11","position":[-0.3983758477314852,0.23010691024936936,0.71338606911949],"aabb_xy":[[-0.4833758464235598,0.19812104685449047],[-0.3133758490394105,0.2620927736442482]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_12","position":[-0.11735758757803183,-1.3920020778353712,0.71338606911949],"aabb_xy":[[-0.1266512058151824,-1.4295020763235051],[-0.10806396934088124,-1.3545020793472373]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_13","position":[-0.4701338943650739,-0.7067541751999387,0.71338606911949],"aabb_xy":[[-0.5251271057022107,-0.7617541755387324],[-0.4151406830279372,-0.6517541748611451]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_14","position":[0.12359986185282745,-1.5782195613350283,0.71338606911949],"aabb_xy":[[0.08609986190906105,-1.5865126513698646],[0.16109986179659386,-1.5699264713001915]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_15","position":[0.6457169335742761,1.1320788124431789,0.71338606911949],"aabb_xy":[[0.629832440308951,1.117725872144355],[0.6616014268396013,1.1464317527420032]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_16","position":[0.39519193747031944,0.7074069009274715,0.71338606911949],"aabb_xy":[[0.39105608113761925,0.6699069014831146],[0.39932779380301964,0.7449069003718286]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_17","position":[0.31364066867003815,-1.0020142318222383,0.71338606911949],"aabb_xy":[[0.3057173884312898,-1.0245142320602416],[0.3215639489087865,-0.9795142315842349]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_18","position":[0.13880239842740583,-1.1611307127002304,0.71338606911949],"aabb_xy":[[0.05508017292732334,-1.2511307162349263],[0.22252462392748826,-1.0711307091655344]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_19","position":[0.4754832453396143,0.42556420035897347,0.71338606911949],"aabb_xy":[[0.40548324373733474,0.4121314071573159],[0.5454832469418938,0.43899699356063104]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_20","position":[0.3856421119408857,1.2058168987369235,0.71338606911949],"aabb_xy":[[0.36814211168154914,1.191725356548151],[0.40314211220022245,1.2199084409256962]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_21","position":[0.2964617581062845,-1.5877289147144962,0.71338606911949],"aabb_xy":[[0.2589617596828841,-1.6008931286823265],[0.3339617565296848,-1.5745647007466654]]},{"name":"lh_pcr_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m02_22","position":[-0.03420544298353312,-1.3099590469789981,0.71338606911949],"aabb_xy":[[-0.04051754251987155,-1.3157259862322173],[-0.027893343447194685,-1.3041921077257794]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_23","position":[0.2997277551707751,1.0526303144157798,0.71338606911949],"aabb_xy":[[0.28779502080894703,1.0402481616079204],[0.31166048953260317,1.0650124672236392]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_24","position":[-0.5512940084628207,-0.4657383681639624,0.71338606911949],"aabb_xy":[[-0.5566315841288253,-0.49073836909310226],[-0.5459564327968162,-0.4407383672348227]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[-0.28459135017242454,0.8371279311821622,0.71338606911949],"aabb_xy":[[-0.29803787680646787,0.8236580795290709],[-0.2711448235383812,0.8505977828352533]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.695459659018705,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1478.png","name":"1478"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1478.png","name":"1478"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8403.png","name":"8403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7785.png","name":"7785"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/300.png","name":"300"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6454.png","name":"6454"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":705.4534542125426,"rotation_z_degrees":220.3666929222474,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.003407553839253206,-0.008766282028402315,0.004474143614726013]},{"name":"camera_2","offset_m":[-0.003100731683271997,0.019054573761983277,-0.010976447280473733]},{"name":"camera_3","offset_m":[0.01577764674742849,0.016469252288232202,-0.0031401638251549874]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00039941460962718213,0.0007698373692610863,0.00036080399685082956],"end_effector_yaw_offset_degrees":0.6164515307493872},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.001112420032507088,5.487553934196672e-05,0.00014821990986546877],"end_effector_yaw_offset_degrees":-0.8839797222586279},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0003169529478544669,-0.0012955474674182482,-0.0004745290001630833],"end_effector_yaw_offset_degrees":0.20840303242572378},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0012118853178008791,-0.0005918557843660737,0.0010982848875454557],"end_effector_yaw_offset_degrees":-0.19374398778644797},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-1.7377604899686608e-05,0.0005670556847432095,-0.0015734507510968383],"end_effector_yaw_offset_degrees":0.35080677438054675},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[6.663775835308436e-05,-0.001463778817913973,-0.0015673486183587877],"end_effector_yaw_offset_degrees":-0.02024834743151338}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0003699429463634718,-0.0009194289650001864],"position_m":[0.32036994294636345,0.35218057103499983,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0008978269115370264,-0.003637751901250228],"position_m":[0.17910217308846296,-0.03723775190125023,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0033213646145530064,0.00192549150168414],"position_m":[0.268678635385447,-0.3653745084983159,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.002476032819337537,-0.0016320657494451906],"position_m":[0.33602396718066246,0.10686793425055481,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"8a39002f13a31a0d6574166c5d0f8b8ff06a80fde1d0f7740f3b270114132ff9","episode_index":71,"episode_name":"episode_0071"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0071.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1478/tex_ceiling_textures_6454/tex_floor_textures_300/tex_table_textures_8403/tex_wall_textures_7785","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":9069044331978106002,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":9069044331978106002,"visual_seed":9069044331978106002,"scene_id":"lab_003","finished_at":"2026-09-06T18:38:28"} +{"episode_id":"ep_000072","started_at":"2026-09-06T18:38:34","dimensions":{"distractor":{"count":23,"items":[{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_0","position":[-0.46342784366193596,-0.22516181843894234,0.71338606911949],"aabb_xy":[[-0.4984278435579548,-0.23353605395088228],[-0.428427843765917,-0.2167875829270024]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_1","position":[-0.4116954708434746,0.9275149942134653,0.71338606911949],"aabb_xy":[[-0.46169547186260995,0.8910487784756375],[-0.36169546982433937,0.9639812099512933]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_2","position":[0.4200790707274895,1.1039497040344384,0.71338606911949],"aabb_xy":[[0.38761736984556194,1.0738168719195356],[0.45254077160941686,1.1340825361493407]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_3","position":[-0.4392768286725159,1.1858832699996178,0.71338606911949],"aabb_xy":[[-0.47677682933709453,1.1701962119993954],[-0.4017768280079371,1.2015703279998398]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_4","position":[-0.415257849537416,1.8155095767507965,0.71338606911949],"aabb_xy":[[-0.4327578486717832,1.8056299497132084],[-0.39775785040304884,1.825389203788384]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_5","position":[0.6193742656136036,-1.6638807180096065,0.71338606911949],"aabb_xy":[[0.6144182454287226,-1.6863807182117283],[0.6243302857984849,-1.641380717807485]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_6","position":[0.2938868892491229,1.5438502917126864,0.71338606911949],"aabb_xy":[[0.28425525302869326,1.5342129789329777],[0.3035185254695525,1.5534876044923955]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_7","position":[-0.15905814019576692,0.6169366780981114,0.71338606911949],"aabb_xy":[[-0.1737015457497999,0.602277958441327],[-0.14441473464173393,0.6315953977548955]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_8","position":[0.447017791572931,-1.9563899064590342,0.71338606911949],"aabb_xy":[[0.4415598459359109,-2.0363899097666938],[0.45247573720995105,-1.8763899031513753]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_9","position":[0.6468898996420638,-0.5739039417748475,0.71338606911949],"aabb_xy":[[0.6350178166305627,-0.6589039414684978],[0.6587619826535649,-0.48890394208119714]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_10","position":[-0.34418889030276484,0.44754785650200857,0.71338606911949],"aabb_xy":[[-0.4241827138813231,0.36754785390916705],[-0.2641950667242067,0.5275478590948501]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_11","position":[0.6098772045448386,0.5544705913177448,0.71338606911949],"aabb_xy":[[0.6011632354949039,0.5319705906585563],[0.6185911735947729,0.5769705919769328]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_12","position":[0.21769183712244478,0.8404228068958925,0.71338606911949],"aabb_xy":[[0.20335741199628132,0.8283625913413536],[0.23202626224860823,0.8524830224504313]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_13","position":[0.4652378205524357,-1.305255750631006,0.71338606911949],"aabb_xy":[[0.45236591705149554,-1.3852557510448422],[0.4781097240533758,-1.22525575021717]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_14","position":[0.2734780758062869,-0.9733002671941624,0.71338606911949],"aabb_xy":[[0.23071136892686672,-1.0373002706159649],[0.3162447826857071,-0.90930026377236]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_15","position":[0.3531721354991162,-2.1420045068167277,0.71338606911949],"aabb_xy":[[0.34707750761099787,-2.1505739013683964],[0.3592667633872345,-2.133435112265059]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_16","position":[-0.16320776664544512,-2.177848896506713,0.71338606911949],"aabb_xy":[[-0.2007077681610768,-2.189075669522858],[-0.12570776512981338,-2.166622123490568]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_17","position":[0.6255549722686657,-2.4993016036538815,0.71338606911949],"aabb_xy":[[0.5555549688771038,-2.534617377357312],[0.6955549756602277,-2.4639858299504502]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_18","position":[-0.5800692835958166,-2.4914569115717713,0.71338606911949],"aabb_xy":[[-0.6440692828899848,-2.5554430519406255],[-0.5160692843016483,-2.427470771202917]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_19","position":[-0.008846584182129247,1.6190835480314623,0.71338606911949],"aabb_xy":[[-0.07284658057770232,1.5551202596127285],[0.05515341221344383,1.6830468364501956]]},{"name":"st_rubber_stopper_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m02_20","position":[-0.4256207033920067,-1.2087841058160123,0.71338606911949],"aabb_xy":[[-0.44752938553135774,-1.2306847726361028],[-0.40371202125265565,-1.1868834389959213]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_21","position":[0.03160813535409768,-0.9414444306651708,0.71338606911949],"aabb_xy":[[0.011549723740857387,-0.9615095175743282],[0.05166654696733797,-0.9213793437560132]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_22","position":[0.4460252116705241,0.4553096617764174,0.71338606911949],"aabb_xy":[[0.396025936502088,0.40530966050047035],[0.49602448683896033,0.5053096630523647]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7010694589796732,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3695.png","name":"3695"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3695.png","name":"3695"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3254.png","name":"3254"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9268.png","name":"9268"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/234.png","name":"234"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8108.png","name":"8108"}]},"visual":{"folder_name":"vis_normal_neutral","config_idx":5,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":576.9422205637493,"rotation_z_degrees":239.4304848420289,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0035709385089368433,0.00689063999342995,0.01455851322399718]},{"name":"camera_2","offset_m":[-0.007525225230179738,-0.0022904330862343544,0.006315483855935611]},{"name":"camera_3","offset_m":[0.0035637024964807022,-0.0033463713091852615,-0.005649673435412388]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00045973319481034877,0.0008034997892235607,-0.0006358149520465362],"end_effector_yaw_offset_degrees":0.4855871780324077},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.000836948920302207,-0.0011773502872365702,0.0011512583135583885],"end_effector_yaw_offset_degrees":0.8635302748637348},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008080458421147112,-0.0015561570818304884,0.0007173371954874554],"end_effector_yaw_offset_degrees":-0.03687766444633489},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00035299610772451524,-0.0019973942511765175,0.00177715263937316],"end_effector_yaw_offset_degrees":0.501112651156149},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0013134255934962621,-0.0017111625289472957,0.0002456747842599573],"end_effector_yaw_offset_degrees":-0.7301976413639639},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.001642421105973034,0.0018345120277175075,0.000504597531953057],"end_effector_yaw_offset_degrees":0.7653199374200526}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0036617286065157755,0.001286686046910737],"position_m":[0.32366172860651576,0.35438668604691076,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0019659978353211783,0.0015808358641273236],"position_m":[0.18196599783532116,-0.03201916413587268,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0005133469185920267,-0.0025373663064547137],"position_m":[0.272513346918592,-0.36983736630645475,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019460979102379405,-0.001691638065978066],"position_m":[0.34044609791023794,0.10680836193402193,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1821bca54478b5d51c6331c2a22589cde4e165c25a3e0f68942451d17e96ca70","episode_index":72,"episode_name":"episode_0072"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0072.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_005_normal_neutral/scene_lab_003/tex_background_textures_3695/tex_ceiling_textures_8108/tex_floor_textures_234/tex_table_textures_3254/tex_wall_textures_9268","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":285964409151385166,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":285964409151385166,"visual_seed":285964409151385166,"scene_id":"lab_003","finished_at":"2026-09-06T18:46:17"} +{"episode_id":"ep_000073","started_at":"2026-09-06T18:46:24","dimensions":{"distractor":{"count":26,"items":[{"name":"st_hose_barb_t_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g03_m02_0","position":[-0.5494257603328236,1.7513498783815762,0.71338606911949],"aabb_xy":[[-0.5601987342541914,1.7163498801625374],[-0.5386527864114559,1.7863498766006154]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_1","position":[0.5654847605360334,0.04043566193080572,0.71338606911949],"aabb_xy":[[0.5574907719583299,0.03243558183571538],[0.5734787491137366,0.04843574202589607]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_2","position":[-0.6053780811529389,0.5312195654111309,0.71338606911949],"aabb_xy":[[-0.6205502504345722,0.5160507084829276],[-0.5902059118713056,0.5463884223393343]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_3","position":[0.449249466737325,-0.710617179709331,0.71338606911949],"aabb_xy":[[0.4436677951031962,-0.7231171795271064],[0.4548311383714537,-0.6981171798915554]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_4","position":[-0.23315317783496514,-1.684443933510078,0.71338606911949],"aabb_xy":[[-0.24107645807371347,-1.7069439337480812],[-0.2252298975962168,-1.6619439332720745]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_5","position":[0.576806305796828,-0.7524364710150624,0.71338606911949],"aabb_xy":[[0.5403104851695493,-0.7889204134418198],[0.6133021264241068,-0.7159525285883047]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_6","position":[-0.3071229112949915,-1.0274729488108623,0.71338606911949],"aabb_xy":[[-0.34275206719495127,-1.0631056155677152],[-0.2714937553950318,-0.9918402820540093]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_7","position":[0.30584330647412483,1.164392849520536,0.71338606911949],"aabb_xy":[[0.256362885260166,1.1003928516076842],[0.35532372768808357,1.2283928474333878]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_8","position":[-0.18197492168572416,0.8390241969555818,0.71338606911949],"aabb_xy":[[-0.24697492268622465,0.7882378318009069],[-0.11697492068522361,0.8898105621102568]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_9","position":[-0.4339514889041493,-1.9463806216209922,0.71338606911949],"aabb_xy":[[-0.48395149026503653,-1.996358526196408],[-0.3839514875432621,-1.8964027170455768]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_10","position":[0.3122503077172192,-1.2404141396053692,0.71338606911949],"aabb_xy":[[0.2522503068564063,-1.2918405696118553],[0.37225030857803193,-1.1889877095988826]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_11","position":[-0.2923810361203439,-1.4562204384182027,0.71338606911949],"aabb_xy":[[-0.35001150500761474,-1.5162204373449129],[-0.23475056723307303,-1.3962204394914919]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_12","position":[0.5399695422842261,-0.3218625699109059,0.71338606911949],"aabb_xy":[[0.4899695436383049,-0.3717821135703682],[0.5899695409301473,-0.27194302625144345]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_13","position":[0.572447792905848,-1.8851043336093318,0.71338606911949],"aabb_xy":[[0.5690071166657908,-1.8889657665836965],[0.5758884691459052,-1.8812429006349676]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_14","position":[-0.34362194957315234,-0.2850688824325931,0.71338606911949],"aabb_xy":[[-0.35452772566071505,-0.3650688788314222],[-0.33271617348558963,-0.2050688860337639]]},{"name":"st_cork_borer_set_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g03_m01_15","position":[-0.5487282329591648,-1.775819786624369,0.71338606911949],"aabb_xy":[[-0.6387282294600365,-1.8217314290428268],[-0.458728236458293,-1.7299081442059103]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_16","position":[0.37800466140989486,-1.1159441538942212,0.71338606911949],"aabb_xy":[[0.3430046630991994,-1.1236591688177666],[0.4130046597205903,-1.1082291389706753]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_17","position":[0.15518182987011986,-2.198234086264054,0.71338606911949],"aabb_xy":[[0.11241512299069967,-2.2622340896858564],[0.19794853674954005,-2.1342340828422515]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_18","position":[-0.6125755682986098,1.2925539195279936,0.71338606911949],"aabb_xy":[[-0.6825755647085714,1.2721159838763114],[-0.5425755718886478,1.3129918551796749]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_19","position":[0.4264695050584637,1.5926124996775344,0.71338606911949],"aabb_xy":[[0.3814695035922349,1.5476126428160542],[0.4714695065246926,1.6376123565390155]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_20","position":[-0.005000055448120544,-2.1193513249978997,0.71338606911949],"aabb_xy":[[-0.03946240284626234,-2.1538452073957215],[0.029462291950021254,-2.084857442600076]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_21","position":[-0.5913385819076308,-1.5337494593792476,0.71338606911949],"aabb_xy":[[-0.6463317932447675,-1.5887494597180414],[-0.536345370570494,-1.478749459040454]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.3932164159885729,1.0707766730465824,0.71338606911949],"aabb_xy":[[-0.4482086666240838,1.0157766713032697],[-0.3382241653530619,1.1257766747898952]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_23","position":[-0.4127122873271662,-2.545722250024116,0.71338606911949],"aabb_xy":[[-0.44771228645712186,-2.5514674710997802],[-0.37771228819721053,-2.539977028948452]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_24","position":[-0.46909974275711525,1.5911534648833787,0.71338606911949],"aabb_xy":[[-0.4778809699043515,1.5823737175948491],[-0.4603185156098791,1.5999332121719096]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_25","position":[-0.28256695741595866,-2.098637947781078,0.71338606911949],"aabb_xy":[[-0.2954388609168988,-2.178637948194914],[-0.2696950539150185,-2.0186379473672416]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6983422169035439,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8526.png","name":"8526"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8526.png","name":"8526"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/310.png","name":"310"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1360.png","name":"1360"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/953.png","name":"953"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7375.png","name":"7375"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":529.2213605139186,"rotation_z_degrees":187.93854185970514,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.013458336092913564,-0.003907467689997047,-0.0031511769999004458]},{"name":"camera_2","offset_m":[-0.010344931032274483,-0.014549753128045548,0.01218987126914874]},{"name":"camera_3","offset_m":[-0.008455792599289769,0.017059364074136756,0.014543081477143446]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019804168388517437,0.0017969009285117971,-0.0010766939853382664],"end_effector_yaw_offset_degrees":0.7430862355684684},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0013274940250298317,0.0017134840159867964,0.0014556370271260476],"end_effector_yaw_offset_degrees":-0.39400379489418547},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0008044779840212578,0.0008451047474219114,-0.0018281992414912183],"end_effector_yaw_offset_degrees":-0.6199283845773409},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0013779246351399727,0.00042858657691181856,0.0015524022207309158],"end_effector_yaw_offset_degrees":0.27922486869489815},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0008213355990455526,0.0016628918891387415,0.000994955877855456],"end_effector_yaw_offset_degrees":0.4402150884152771},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016339763393749627,0.0009162192909527634,0.0006301739740583664],"end_effector_yaw_offset_degrees":-0.7863624720653892}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0006993213051335921,0.0010482776195886358],"position_m":[0.3206993213051336,0.35414827761958867,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004798548699322546,0.002878886287183584],"position_m":[0.17520145130067744,-0.030721113712816415,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0031425680861553685,-0.003246258958915711],"position_m":[0.26885743191384465,-0.37054625895891574,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004446851963506716,-0.0037651469347010293],"position_m":[0.3429468519635067,0.10473485306529896,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"289569afcfc5cb7e6a76e9f2d68bc7923d39bc762e15581c92158525b526a41d","episode_index":73,"episode_name":"episode_0073"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0073.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_8526/tex_ceiling_textures_7375/tex_floor_textures_953/tex_table_textures_310/tex_wall_textures_1360","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5791072363195906065,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5791072363195906065,"visual_seed":5791072363195906065,"scene_id":"lab_003","finished_at":"2026-09-06T18:53:21"} +{"episode_id":"ep_000074","started_at":"2026-09-06T18:53:28","dimensions":{"distractor":{"count":35,"items":[{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_0","position":[0.39494230429274957,0.929973914311542,0.71338606911949],"aabb_xy":[[0.3574423057171287,0.917237618647984],[0.4324423028683703,0.9427102099750999]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_1","position":[0.511452123046845,1.5870820766071456,0.71338606911949],"aabb_xy":[[0.4414521209154154,1.56432011098145],[0.5814521251782745,1.6098440422328413]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_2","position":[-0.5620533001341822,-0.7980482290845161,0.71338606911949],"aabb_xy":[[-0.6470532988262568,-0.8300340924793949],[-0.47705330144210756,-0.7660623656896371]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.34943020262429947,-1.6113185751341508,0.71338606911949],"aabb_xy":[[0.33193020348993224,-1.6211982021717386],[0.3669302017586666,-1.601438948096563]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_4","position":[-0.41383855094168953,-2.460952975581637,0.71338606911949],"aabb_xy":[[-0.5038385506648637,-2.4840263281168165],[-0.32383855121851535,-2.437879623046457]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_5","position":[-0.5207379315686653,1.6962094825235376,0.71338606911949],"aabb_xy":[[-0.524816089475715,1.6921285022752743],[-0.5166597736616156,1.700290462771801]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_6","position":[0.4089404427472363,-1.4427347593592839,0.71338606911949],"aabb_xy":[[0.40243880623923173,-1.4525025813855936],[0.41544207925524096,-1.432966937332974]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_7","position":[-0.4809756349806078,-1.9761797279004445,0.71338606911949],"aabb_xy":[[-0.5449756381992457,-2.022902839799453],[-0.4169756317619699,-1.9294566160014361]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_8","position":[0.3797971422340871,-0.5629790550732552,0.71338606911949],"aabb_xy":[[0.3157971403217447,-0.6188902043312657],[0.4437971441464294,-0.5070679058152449]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_9","position":[0.6947567341575636,0.6131261295190908,0.71338606911949],"aabb_xy":[[0.6786948066990458,0.5281261277064988],[0.7108186616160811,0.6981261313316824]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_10","position":[-0.39691827015093556,-2.269485149413043,0.71338606911949],"aabb_xy":[[-0.40654990637136523,-2.2791224621927517],[-0.387286633930506,-2.259847836633334]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_11","position":[-0.28661324767185614,-0.21344798524127784,0.71338606911949],"aabb_xy":[[-0.3566132503084425,-0.23355285023714334],[-0.2166132450352698,-0.19334312024541234]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.23914686507957061,-1.3616078750926643,0.71338606911949],"aabb_xy":[[0.21130182829896352,-1.392392373830976],[0.26699190186017774,-1.3308233763543527]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_13","position":[-0.24687969394672948,-0.48002858495013356,0.71338606911949],"aabb_xy":[[-0.29296478520146096,-0.5440285822026887],[-0.20079460269199803,-0.4160285876975785]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_14","position":[-0.17631822621854687,0.053128737647871294,0.71338606911949],"aabb_xy":[[-0.18177617185556694,-0.02687126565978782],[-0.1708602805815268,0.1331287409555304]]},{"name":"lh_deep_well_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m02_15","position":[-0.3065251630075834,-0.7663968161237824,0.71338606911949],"aabb_xy":[[-0.3705251594031565,-0.830360104542516],[-0.24252516661201035,-0.7024335277050489]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_16","position":[-0.4699537959491641,0.6825038182495131,0.71338606911949],"aabb_xy":[[-0.5011007147927473,0.6125038195627059],[-0.43880687710558103,0.7525038169363203]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_17","position":[0.09868717735922916,1.262130624884327,0.71338606911949],"aabb_xy":[[0.08675444299740112,1.2497484720764676],[0.11061991172105726,1.2745127776921863]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.6116134334882513,0.2502975700783372,0.71338606911949],"aabb_xy":[[0.5941827184092446,0.23302545541448635],[0.6290441485672577,0.26756968474218795]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_19","position":[0.541758042617728,1.4211638722297715,0.71338606911949],"aabb_xy":[[0.46175804560348,1.4010293205563602],[0.621758039631976,1.4412984239031827]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[0.18433321759738364,1.696996979926952,0.71338606911949],"aabb_xy":[[0.1430844065674689,1.6419969804147343],[0.22558202862729837,1.7519969794391692]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.2896954792714381,0.5891444571704976,0.71338606911949],"aabb_xy":[[0.2745233099898048,0.5739756002422942],[0.30486764855307147,0.6043133140987009]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_22","position":[-0.5300461435730952,-0.1655414777722406,0.71338606911949],"aabb_xy":[[-0.5370875945238427,-0.17256822951003514],[-0.5230046926223475,-0.15851472603444605]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.6440758249923916,0.22920937939577257,0.71338606911949],"aabb_xy":[[-0.6808704581172978,0.19230350429919033],[-0.6072811918674853,0.26611525449235485]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_24","position":[0.600886389339605,-0.10750714160840946,0.71338606911949],"aabb_xy":[[0.5789966417506642,-0.19750713889765856],[0.6227761369285458,-0.017507144319160336]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_25","position":[-0.2053032538525521,0.6444196443218937,0.71338606911949],"aabb_xy":[[-0.25530325521343933,0.594441739746478],[-0.15530325249166488,0.6943975488973092]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_26","position":[-0.13386966427779168,-1.3390814204345436,0.71338606911949],"aabb_xy":[[-0.14647236341486813,-1.3516768166594095],[-0.12126696514071522,-1.3264860242096785]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_27","position":[0.6641314511209542,-0.7431334626020432,0.71338606911949],"aabb_xy":[[0.6291314519909985,-0.7488786836777073],[0.6991314502509098,-0.737388241526379]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_28","position":[-0.009867346390701082,-1.5993751297271073,0.71338606911949],"aabb_xy":[[-0.04026545748984466,-1.6297820317287766],[0.020530764708442503,-1.5689682277254375]]},{"name":"lh_plastic_petri_dish_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m02_29","position":[0.033645023781634475,0.7913768455391321,0.71338606911949],"aabb_xy":[[-0.016237673096061726,0.7413768462928574],[0.08352772065933069,0.841376844785407]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_30","position":[0.11113589254790757,-2.1795736198920466,0.71338606911949],"aabb_xy":[[0.061157084037591694,-2.2295736198977654],[0.16111470105822345,-2.1295736198863278]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_31","position":[0.6468922781484767,-1.153945124521586,0.71338606911949],"aabb_xy":[[0.6419362579635957,-1.1764451247237075],[0.651848298333358,-1.1314451243194643]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_32","position":[-0.17485030809298352,-1.1849826953315163,0.71338606911949],"aabb_xy":[[-0.2548503060737685,-1.192584236293368],[-0.09485031011219845,-1.1773811543696642]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_33","position":[-0.07993417315413387,1.5311867814183562,0.71338606911949],"aabb_xy":[[-0.13492642378964484,1.4761867796750439],[-0.024941922518622935,1.5861867831616696]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_34","position":[0.6408771314329513,1.1429918903562908,0.71338606911949],"aabb_xy":[[0.5608771340293578,1.0629993191581077],[0.7208771288365446,1.2229844615544734]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7048894657077226,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2504.png","name":"2504"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8682.png","name":"8682"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5341.png","name":"5341"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8618.png","name":"8618"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1319.png","name":"1319"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":559.6804602635982,"rotation_z_degrees":280.18516068167304,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.0014645345742665891,-0.019428385741310103,-0.005001801991870884]},{"name":"camera_2","offset_m":[-0.014582406495533863,0.013450299998546206,0.005350036162271924]},{"name":"camera_3","offset_m":[-0.00535351590272827,-0.015573667042054883,-0.012699364251255223]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.696920619846767e-05,-0.0012350325033304364,-0.001781370911129304],"end_effector_yaw_offset_degrees":-0.24059277586514116},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0004624756320462087,0.0013771986232067753,0.0009260115050838996],"end_effector_yaw_offset_degrees":-0.6080958241800913},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011096529054992789,0.0019085553303819216,0.000710382192949307],"end_effector_yaw_offset_degrees":-0.4980086060289908},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009237250915605615,-0.0017705695662501868,-0.0007889476403719611],"end_effector_yaw_offset_degrees":-0.7439696035342269},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012554548503867446,-4.6663141357469306e-05,-0.001767960802286246],"end_effector_yaw_offset_degrees":0.366202992391232},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00024392505311467876,-0.0003085832108866496,0.0007765807578062256],"end_effector_yaw_offset_degrees":-0.9237472066169699}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0019025474135849893,-0.0027089141418769557],"position_m":[0.321902547413585,0.35039108585812306,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00488495377218993,-0.00445524716272508],"position_m":[0.18488495377218991,-0.03805524716272508,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004763654920455876,-0.0029291190030535865],"position_m":[0.2767636549204559,-0.3702291190030536,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.004028521143018768,0.0020517217534512964],"position_m":[0.3425285211430188,0.11055172175345129,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c9679bbedcee54b471edaf4a57f9f8a53370313e9e8f5386b2746767d53e1080","episode_index":74,"episode_name":"episode_0074"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0074.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_2504/tex_ceiling_textures_1319/tex_floor_textures_8618/tex_table_textures_8682/tex_wall_textures_5341","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2493830292343102698,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2493830292343102698,"visual_seed":2493830292343102698,"scene_id":"lab_003","finished_at":"2026-09-06T19:00:13"} +{"episode_id":"ep_000075","started_at":"2026-09-06T19:00:19","dimensions":{"distractor":{"count":34,"items":[{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_0","position":[-0.4809131421589996,1.3447900947021325,0.71338606911949],"aabb_xy":[[-0.5168266465839892,1.3088765864853777],[-0.4449996377340099,1.3807036029188868]]},{"name":"st_micro_spatula_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g04_m02_1","position":[0.2561119975056364,-0.6604581390221271,0.71338606911949],"aabb_xy":[[0.1723897720055539,-0.7504581425568231],[0.3398342230057188,-0.5704581354874312]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_2","position":[0.4650068359174684,1.4734597074520708,0.71338606911949],"aabb_xy":[[0.4275068355692406,1.4616683118709872],[0.5025068362656961,1.4852511030331543]]},{"name":"lh_pipette_tip_rack_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g01_m01_3","position":[0.6268515955540914,-1.2214776176689124,0.71338606911949],"aabb_xy":[[0.5618515945969642,-1.2734258296026177],[0.6918515965112186,-1.1695294057352066]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_4","position":[-0.265010117238117,1.6240792182291748,0.71338606911949],"aabb_xy":[[-0.32901011751209525,1.5740131180318868],[-0.20101011696413879,1.6741453184264627]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_5","position":[-0.1770961128827102,-2.46606385711558,0.71338606911949],"aabb_xy":[[-0.1995608828541153,-2.48856385799444],[-0.15463134291130506,-2.443563856236719]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_6","position":[-0.05818804445625636,-2.4766570529286036,0.71338606911949],"aabb_xy":[[-0.11318125579339312,-2.531657053267397],[-0.003194833119119598,-2.42165705258981]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_7","position":[0.41482631284137783,-2.22957383793076,0.71338606911949],"aabb_xy":[[0.3836793939977947,-2.2995738366175673],[0.44597323168496095,-2.159573839243953]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_8","position":[0.1596712626590574,-1.188652199357147,0.71338606911949],"aabb_xy":[[0.12282071472206979,-1.2261522001801808],[0.196521810596045,-1.1511521985341133]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_9","position":[0.6355391231439833,0.7284574800648964,0.71338606911949],"aabb_xy":[[0.6017635639532903,0.7144189848517314],[0.6693146823346763,0.7424959752780614]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_10","position":[-0.25087020510017366,-0.7762589762576766,0.71338606911949],"aabb_xy":[[-0.2864993610001334,-0.8118916430145294],[-0.21524104920021392,-0.7406263095008235]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_11","position":[-0.47029322201440105,-2.0722337199263956,0.71338606911949],"aabb_xy":[[-0.5502932222880079,-2.1451832677521123],[-0.39029322174079406,-1.999284172100679]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_12","position":[-0.1593843353928056,-1.317824853963521,0.71338606911949],"aabb_xy":[[-0.2243843363933061,-1.368611219118196],[-0.09438433439230506,-1.2670384888088462]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[-0.018637119557183057,-2.05817431546052,0.71338606911949],"aabb_xy":[[-0.10863712189120212,-2.1356566700456328],[0.071362882776836,-1.9806919608754074]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_14","position":[-0.4840011196724461,-1.3723979741711259,0.71338606911949],"aabb_xy":[[-0.5440011199238473,-1.4266792992075905],[-0.42400111942104485,-1.3181166491346612]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_15","position":[-0.5293788816198741,0.2590389063339962,0.71338606911949],"aabb_xy":[[-0.5661735147447804,0.22213303123741385],[-0.49258424849496785,0.2959447814305784]]},{"name":"lh_pcr_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m01_16","position":[-0.5328336365303643,-0.6415903278640238,0.71338606911949],"aabb_xy":[[-0.575018050691195,-0.705590328141235],[-0.49064922236953357,-0.5775903275868126]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_17","position":[0.6930985192477801,1.6760015238158918,0.71338606911949],"aabb_xy":[[0.68866788989294,1.6705531520812094],[0.6975291486026204,1.6814498955505743]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_18","position":[0.4808395809769388,-1.9295962084026663,0.71338606911949],"aabb_xy":[[0.41683957956894807,-1.981385159926591],[0.5448395823849294,-1.8778072568787416]]},{"name":"lh_pcr_tube_strip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m01_19","position":[-0.2728630842326153,-0.11094395315272099,0.71338606911949],"aabb_xy":[[-0.31036308404964885,-0.11558216446386285],[-0.23536308441558174,-0.10630574184157912]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[-0.5061425066583833,-0.8834473205853699,0.71338606911949],"aabb_xy":[[-0.5313633435182228,-0.9086710714382567],[-0.4809216697985435,-0.8582235697324831]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_21","position":[-0.16226931679581302,-2.266387265068999,0.71338606911949],"aabb_xy":[[-0.22626931408146167,-2.307893984021843],[-0.09826931951016438,-2.224880546116155]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_22","position":[0.35064253854544747,-2.028626990698275,0.71338606911949],"aabb_xy":[[0.33599913299141443,-2.0432857103550592],[0.3652859440994804,-2.013968271041491]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_23","position":[-0.29342415986285414,-0.3920298110889573,0.71338606911949],"aabb_xy":[[-0.3474397561447541,-0.4560298139812144],[-0.23940856358095408,-0.3280298081967001]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_24","position":[-0.3678545474727227,0.8123293352813201,0.71338606911949],"aabb_xy":[[-0.4178545469129183,0.7623614107970037],[-0.31785454803252705,0.8622972597656363]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_25","position":[-0.582010245893196,-2.509752894936544,0.71338606911949],"aabb_xy":[[-0.6460102431955423,-2.554119321904401],[-0.5180102485908495,-2.4653864679686874]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_26","position":[0.4257405262381355,-0.7333169213594748,0.71338606911949],"aabb_xy":[[0.41845820986147175,-0.8233169249689836],[0.43302284261479906,-0.6433169177499656]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_27","position":[0.4717712803451961,-0.23295343535565927,0.71338606911949],"aabb_xy":[[0.46580474140446027,-0.23891458001502325],[0.47773781928593184,-0.22699229069629517]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_28","position":[0.5450205342910146,0.9096462714336164,0.71338606911949],"aabb_xy":[[0.4550205375554043,0.8564628081163219],[0.6350205310266247,0.9628297347509109]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_29","position":[-0.36131849312102465,-1.5694515411622234,0.71338606911949],"aabb_xy":[[-0.4064898109691937,-1.633451538306762],[-0.3161471752728557,-1.5054515440176852]]},{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_30","position":[-0.3901001468329875,-1.8938879942533395,0.71338606911949],"aabb_xy":[[-0.4400949797609291,-1.9438879931485828],[-0.3401053139050459,-1.8438879953580958]]},{"name":"lh_plastic_screw_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m02_31","position":[-0.348811606571463,-1.7580776158263822,0.71338606911949],"aabb_xy":[[-0.3639744795484001,-1.7732430731215014],[-0.33364873359452596,-1.742912158531264]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_32","position":[0.5871107415877825,-2.086823067523673,0.71338606911949],"aabb_xy":[[0.5231107396754403,-2.142734216781684],[0.651110743500125,-2.030911918265663]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_33","position":[-0.5476141630377387,0.7590415484857389,0.71338606911949],"aabb_xy":[[-0.5947435420395744,0.695041547441337],[-0.500484784035903,0.8230415495301409]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6981573366915087,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8534.png","name":"8534"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8534.png","name":"8534"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4729.png","name":"4729"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1250.png","name":"1250"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4834.png","name":"4834"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4728.png","name":"4728"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":807.5609126545404,"rotation_z_degrees":144.23925615602838,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011891321279475304,-0.007191944375412778,0.00835657836874689]},{"name":"camera_2","offset_m":[0.002346673436289866,0.009122429599862848,-0.0059266147195329525]},{"name":"camera_3","offset_m":[-0.010569934877729463,0.010949566880243695,-0.0057706030919511785]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0008622559940995862,-0.0015276760329075167,-0.0019106649010492106],"end_effector_yaw_offset_degrees":-0.612978323761044},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0013236030892068177,0.00048139554261119374,-0.0016255951173755588],"end_effector_yaw_offset_degrees":0.7567823770998909},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0009125327200885064,0.0007917312723438319,-0.0011098255052485956],"end_effector_yaw_offset_degrees":-0.6999048839903597},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.000401314336303857,-0.0017197631432949315,-0.0005687758874118837],"end_effector_yaw_offset_degrees":0.9315667729278709},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0017307580459933539,0.0014881626247764774,-0.0007994245143526405],"end_effector_yaw_offset_degrees":0.2655565833724247},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0015100590540464568,-0.0003008662449111043,0.0008092882696562817],"end_effector_yaw_offset_degrees":-0.6552197705018818}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.003702764517731878,-0.0009052977601966671],"position_m":[0.3237027645177319,0.35219470223980337,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.001163586539435246,0.003359665493105517],"position_m":[0.18116358653943523,-0.030240334506894482,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.002780220793922901,-0.002317728902007824],"position_m":[0.2692197792060771,-0.36961772890200784,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037481322515127953,0.002906045627159606],"position_m":[0.3422481322515128,0.11140604562715961,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"01e38f1a78575363149eb9fd761e2733f9aca7898e6a1ad02c1117aa0a455cb3","episode_index":75,"episode_name":"episode_0075"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0075.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8534/tex_ceiling_textures_4728/tex_floor_textures_4834/tex_table_textures_4729/tex_wall_textures_1250","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1239643387882463360,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1239643387882463360,"visual_seed":1239643387882463360,"scene_id":"lab_003","finished_at":"2026-09-06T19:07:13"} +{"episode_id":"ep_000076","started_at":"2026-09-06T19:07:20","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_0","position":[0.6222473678888611,1.2180562889897248,0.71338606911949],"aabb_xy":[[0.5935980355284449,1.1894107297126488],[0.6508967002492774,1.2467018482668004]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_1","position":[0.19778315221253118,0.7289273056518364,0.71338606911949],"aabb_xy":[[0.18087241977618937,0.7154551000592217],[0.21469388464887293,0.7423995112444508]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_2","position":[-0.18864719676398356,-0.27120792748582545,0.71338606911949],"aabb_xy":[[-0.25264719817197423,-0.32299687900975016],[-0.1246471953559929,-0.21941897596190077]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_3","position":[0.4051264876783298,1.2735575196485427,0.71338606911949],"aabb_xy":[[0.3942748814294542,1.2626982289208915],[0.4159780939272054,1.2844168103761935]]},{"name":"wc_weighing_bottle_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m01_4","position":[-0.5746192479668386,0.8355235919552806,0.71338606911949],"aabb_xy":[[-0.5935036317353488,0.8166376671749279],[-0.5557348641983284,0.8544095167356335]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_5","position":[-0.04802902121350083,1.1304999067900958,0.71338606911949],"aabb_xy":[[-0.13802902063187172,1.097124409945906],[0.04197097820487005,1.1638754036342855]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.35657983925012116,-1.3367224693284567,0.71338606911949],"aabb_xy":[[0.29157984136847337,-1.3878461330349976],[0.421579837131769,-1.2855988056219159]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_7","position":[-0.589496422720398,-2.172016875723043,0.71338606911949],"aabb_xy":[[-0.6269964239051907,-2.176435098419103],[-0.5519964215356051,-2.167598653026982]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_8","position":[0.551886889193258,-1.5902526918843551,0.71338606911949],"aabb_xy":[[0.5058017979385264,-1.6542526891369103],[0.5979719804479894,-1.5262526946318]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_9","position":[-0.03025933167494499,-1.5748741793219698,0.71338606911949],"aabb_xy":[[-0.09025933152151178,-1.6316928015150083],[0.029740668171621798,-1.518055557128931]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_10","position":[-0.40070470137394987,0.7405240488109102,0.71338606911949],"aabb_xy":[[-0.4375552493109374,0.7030240479878764],[-0.3638541534369622,0.7780240496339439]]},{"name":"lh_multichannel_trough_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m02_11","position":[-0.3738163166682266,-0.8946496842824927,0.71338606911949],"aabb_xy":[[-0.4438163200597886,-0.9299654579859237],[-0.30381631327666464,-0.8593339105790619]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_12","position":[0.6166688083823748,0.424218872806835,0.71338606911949],"aabb_xy":[[0.5933869661842435,0.3392188715096069],[0.6399506505805062,0.509218874104063]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_13","position":[0.12959588486018692,1.3543251687657976,0.71338606911949],"aabb_xy":[[0.07558028857828686,1.2903251658735402],[0.18361148114208686,1.4183251716580545]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_14","position":[-0.6220795423564045,-1.4917126120478048,0.71338606911949],"aabb_xy":[[-0.6445795418801118,-1.5142085594984256],[-0.599579542832697,-1.469216664597184]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_15","position":[-0.6198095305766357,-0.9768899484304494,0.71338606911949],"aabb_xy":[[-0.6610583416065503,-1.0318899479426666],[-0.5785607195467208,-0.9218899489182318]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_16","position":[0.36943274267840365,-1.5219796011177458,0.71338606911949],"aabb_xy":[[0.29943274054697405,-1.5447415667434412],[0.43943274480983313,-1.49921763549205]]},{"name":"wc_evaporating_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g04_m01_17","position":[-0.4735171085686235,0.9589688152720703,0.71338606911949],"aabb_xy":[[-0.5335171094294362,0.9075423852655838],[-0.4135171077078106,1.0103952452785565]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_18","position":[0.1944776783033002,-2.253424385204712,0.71338606911949],"aabb_xy":[[0.1694776790313379,-2.269769748800874],[0.21947767757526246,-2.237079021608549]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_19","position":[0.4321498355954436,0.73468463911908,0.71338606911949],"aabb_xy":[[0.3936041427702426,0.6961388680628915],[0.47069552842064466,0.7732304101752687]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_20","position":[0.49851773044057257,1.4107240440064297,0.71338606911949],"aabb_xy":[[0.49201609393256795,1.40095622198012],[0.5050193669485772,1.4204918660327395]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_21","position":[-0.31000893692779086,1.5400906696341745,0.71338606911949],"aabb_xy":[[-0.3740089362219591,1.47610452926532],[-0.24600893763362264,1.6040768100030285]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_22","position":[-0.38734435816083096,0.25075866092954247,0.71338606911949],"aabb_xy":[[-0.40484429159481433,0.23325866100930787],[-0.3698444247268476,0.26825866084977695]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_23","position":[-0.5261195008265175,-0.6776553746835889,0.71338606911949],"aabb_xy":[[-0.5365310595070012,-0.6830011080194873],[-0.5157079421460338,-0.6723096413476903]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_24","position":[-0.09856659362303255,-1.0021580532246817,0.71338606911949],"aabb_xy":[[-0.1485658687914687,-1.052158054500629],[-0.048567318454596387,-0.9521580519487347]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_25","position":[0.3901383843868249,-1.730603971964293,0.71338606911949],"aabb_xy":[[0.3782056500249969,-1.7429861247721525],[0.40207111874865303,-1.7182218191564338]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_26","position":[-0.4664462475823878,-1.4575113052293445,0.71338606911949],"aabb_xy":[[-0.5304462461689603,-1.5045182686288532],[-0.4024462489958153,-1.4105043418298358]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_27","position":[0.362857657657071,-2.285475233715609,0.71338606911949],"aabb_xy":[[0.2828576590697515,-2.36479083565377],[0.4428576562443904,-2.206159631777448]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_28","position":[0.2520499755145329,-1.8395967116379555,0.71338606911949],"aabb_xy":[[0.17204997524092588,-1.912546259463672],[0.33204997578813983,-1.7666471638122385]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_29","position":[0.17682069869254236,1.2060544721145865,0.71338606911949],"aabb_xy":[[0.10682069709026287,1.192621678912929],[0.24682070029482184,1.219487265316244]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_30","position":[0.02451358920005553,-2.427933102749677,0.71338606911949],"aabb_xy":[[0.006935287011108685,-2.445507592323782],[0.04209189138900238,-2.410358613175572]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_31","position":[-0.21972491077949097,-1.3677579047510966,0.71338606911949],"aabb_xy":[[-0.26920533199344976,-1.4317579026639486],[-0.17024448956553218,-1.303757906838245]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_32","position":[-0.32392945239396587,0.09442367838402976,0.71338606911949],"aabb_xy":[[-0.3879294496963122,0.05005725141617301],[-0.2599294550916194,0.13879010535188652]]},{"name":"lh_bulk_pipette_tip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m02_33","position":[0.43074271528990926,0.9049351262633656,0.71338606911949],"aabb_xy":[[0.42662676517783654,0.9008195712305199],[0.43485866540198187,0.909050681296211]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6999431033742572,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6444.png","name":"6444"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6444.png","name":"6444"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2805.png","name":"2805"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9287.png","name":"9287"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3121.png","name":"3121"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/511.png","name":"511"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":764.3391210333474,"rotation_z_degrees":108.28978609843413,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008778960550383874,-0.0027281040521834853,0.008172296276594899]},{"name":"camera_2","offset_m":[9.077791100969498e-05,0.0178342437704738,0.009063871306722752]},{"name":"camera_3","offset_m":[-0.019384540352303005,-0.012774880163497048,-0.010429542836403835]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00047670471530271864,-0.001832988539532796,0.0010508042933111313],"end_effector_yaw_offset_degrees":0.2988423678392067},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0008832757490885783,-0.00017625265800007696,0.0008942781079178423],"end_effector_yaw_offset_degrees":0.6584585087499026},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00015743773413764723,0.00187253919631185,-0.0003905903735178921],"end_effector_yaw_offset_degrees":-0.9257902034428354},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0016612367401449713,-0.001271789546634487,-0.0009276435558385012],"end_effector_yaw_offset_degrees":-0.48156460712808347},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00034715179231020114,-0.0009114893493590635,-0.0012001303437885196],"end_effector_yaw_offset_degrees":-0.8339002986068931},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00036912280720103447,-0.00042346409418107865,0.0015178809977579276],"end_effector_yaw_offset_degrees":0.5950519415066617}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0011174661258299546,-0.004870599485000285],"position_m":[0.31888253387417004,0.34822940051499973,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0010633658511855328,-0.0019813717326425005],"position_m":[0.17893663414881447,-0.035581371732642496,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015786420506718772,0.0013332904241121655],"position_m":[0.2735786420506719,-0.36596670957588784,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003523981549760505,0.0010991892097934807],"position_m":[0.3349760184502395,0.10959918920979347,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"fb44991281da852b49f9070ac17f81b6af58d49a5c5b62e82a9e70ad608b6768","episode_index":76,"episode_name":"episode_0076"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0076.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_6444/tex_ceiling_textures_511/tex_floor_textures_3121/tex_table_textures_2805/tex_wall_textures_9287","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8797570139730115185,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8797570139730115185,"visual_seed":8797570139730115185,"scene_id":"lab_003","finished_at":"2026-09-06T19:14:10"} +{"episode_id":"ep_000077","started_at":"2026-09-06T19:14:18","dimensions":{"distractor":{"count":25,"items":[{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_0","position":[-0.1521951672824029,-1.964668322522673,0.71338606911949],"aabb_xy":[[-0.17674138290515362,-1.99491721907171],[-0.12764895165965218,-1.9344194259736358]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_1","position":[-0.5665988345597268,-1.0964421719436186,0.71338606911949],"aabb_xy":[[-0.579470738060667,-1.1764421723574547],[-0.5537269310587867,-1.0164421715297824]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.21342740248775371,-1.1768531293704088,0.71338606911949],"aabb_xy":[[0.19522157882650604,-1.1878785299524004],[0.2316332261490014,-1.1658277287884171]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_3","position":[-0.5780748502915314,1.48231776504629,0.71338606911949],"aabb_xy":[[-0.5822107066242317,1.444817765601933],[-0.5739389939588313,1.519817764490647]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_4","position":[0.07053984171364092,-2.4505275405928963,0.71338606911949],"aabb_xy":[[0.0055398406076976325,-2.4754929136610246],[0.1355398428195842,-2.425562167524768]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_5","position":[-0.643930172702127,-0.29300825115656615,0.71338606911949],"aabb_xy":[[-0.6591023419837604,-0.3081771080847695],[-0.6287580034204937,-0.2778393942283628]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_6","position":[-0.1898055186816382,0.567464328482342,0.71338606911949],"aabb_xy":[[-0.2698055172689576,0.488148726544181],[-0.10980552009431875,0.6467799304205027]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_7","position":[0.31178672162899757,1.2922067571190539,0.71338606911949],"aabb_xy":[[0.2942867224946304,1.2823271300814658],[0.32928672076336474,1.3020863841566415]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_8","position":[-0.30850591082794093,1.7923403205696196,0.71338606911949],"aabb_xy":[[-0.3458371873531836,1.757687265774767],[-0.2711746343026983,1.8269933753644716]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.26644474384235295,0.5676997077983126,0.71338606911949],"aabb_xy":[[0.20144474284185243,0.5169133426436376],[0.33144474484285347,0.6184860729529875]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_10","position":[-0.6261662871634784,0.2544826888198415,0.71338606911949],"aabb_xy":[[-0.642843423156574,0.2377827648459112],[-0.6094891511703829,0.27118261279377176]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[-0.5363242062418858,0.5622143238972774,0.71338606911949],"aabb_xy":[[-0.6063242080506313,0.5408605551330902],[-0.4663242044331404,0.5835680926614649]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_12","position":[-0.0172268813185954,-0.7509841458203583,0.71338606911949],"aabb_xy":[[-0.04174050541560126,-0.7752487391223948],[0.00728674277841046,-0.7267195525183219]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_13","position":[-0.08834602869647701,-0.9474977044809665,0.71338606911949],"aabb_xy":[[-0.15234602728304947,-0.9945046678804752],[-0.024346030109904535,-0.9004907410814578]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_14","position":[-0.4653413134535579,-0.6474753301396015,0.71338606911949],"aabb_xy":[[-0.5453413108571512,-0.727467901337784],[-0.3853413160499644,-0.5674827589414184]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_15","position":[-0.17917564727073942,-0.6835957628949345,0.71338606911949],"aabb_xy":[[-0.2591756487008666,-0.7631129179075439],[-0.09917564584061223,-0.6040786078823249]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_16","position":[-0.07611068305654833,0.770381439148621,0.71338606911949],"aabb_xy":[[-0.1361106833079495,0.7161001141121563],[-0.016110682805147145,0.8246627641850857]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_17","position":[0.3246945306209226,-2.123675430658415,0.71338606911949],"aabb_xy":[[0.2902321832227807,-2.158169313056237],[0.3591568780190643,-2.0891815482605915]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_18","position":[-0.12890169120997352,-1.3283823515924365,0.71338606911949],"aabb_xy":[[-0.21890169488689162,-1.3898147581695406],[-0.038901687533055306,-1.2669499450153319]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_19","position":[-0.5940875110883297,-0.8856809246855657,0.71338606911949],"aabb_xy":[[-0.6001245240889944,-0.8917076257545142],[-0.588050498087665,-0.8796542236166178]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_20","position":[0.6316543250732174,-0.9041791835465058,0.71338606911949],"aabb_xy":[[0.5816543254968828,-0.954159762498612],[0.6816543246495522,-0.8541986045944001]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_21","position":[-0.6654581893059766,0.9677255865609857,0.71338606911949],"aabb_xy":[[-0.6779255474157123,0.9552602619276623],[-0.652990831196241,0.9801909111943093]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_22","position":[0.14985692366882253,1.5213349199721757,0.71338606911949],"aabb_xy":[[0.12485692439686023,1.5049895563760132],[0.17485692294078478,1.5376802835683379]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_23","position":[0.6316506877269086,0.0516227373966931,0.71338606911949],"aabb_xy":[[0.5816506860654138,0.0016242951409903836],[0.6816506893884033,0.1016211796523958]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_24","position":[-0.17737736194281262,0.25167418416274856,0.71338606911949],"aabb_xy":[[-0.18653724088668924,0.24514296611921155],[-0.16821748299893605,0.2582054022062856]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6955455026473925,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/279.png","name":"279"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/279.png","name":"279"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3432.png","name":"3432"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9576.png","name":"9576"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6822.png","name":"6822"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4362.png","name":"4362"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":736.8794096068851,"rotation_z_degrees":331.94287904655584,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.005224121427734022,0.01753952498749241,0.01897367501848043]},{"name":"camera_2","offset_m":[0.01705581712470273,-0.01610083840350315,0.008787189664032361]},{"name":"camera_3","offset_m":[0.0065382203427628224,0.01987954607299974,0.011492269516204339]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0005104770105180494,-0.0006768233407284123,0.0001777878142740939],"end_effector_yaw_offset_degrees":0.1731798734213994},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0007395045303761733,-0.001247579146568306,0.00021196872688596146],"end_effector_yaw_offset_degrees":-0.6048154797804359},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001100239473640124,0.0019427106998162582,0.0011069691212227087],"end_effector_yaw_offset_degrees":0.921247174658038},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0008325560913013473,-0.0017825608849968645,0.00016153110694362184],"end_effector_yaw_offset_degrees":-0.4057853784089718},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0005461174610944023,-0.0018093603187694823,-6.320359779988117e-06],"end_effector_yaw_offset_degrees":-0.45280730968425376},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0014158358964585767,-0.0006180568838515788,0.0008583176025473561],"end_effector_yaw_offset_degrees":-0.6309834172653175}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0010482064056334403,-0.0008694096042150216],"position_m":[0.31895179359436654,0.352230590395785,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0009155585573937539,-0.0036471448060010157],"position_m":[0.18091555855739375,-0.03724714480600101,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0014471739641523187,0.004813594503977013],"position_m":[0.2705528260358477,-0.362486405496023,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0029050503205625073,0.0048982949861625024],"position_m":[0.3414050503205625,0.1133982949861625,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"ec7dbb389cce0f17d2260a0a9d5a18a95ae3eb07af9f7d90d027fd474d360e03","episode_index":77,"episode_name":"episode_0077"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0077.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_279/tex_ceiling_textures_4362/tex_floor_textures_6822/tex_table_textures_3432/tex_wall_textures_9576","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7819818242061087683,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7819818242061087683,"visual_seed":7819818242061087683,"scene_id":"lab_003","finished_at":"2026-09-06T19:21:11"} +{"episode_id":"ep_000078","started_at":"2026-09-06T19:28:27","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_0","position":[0.21022934169517526,-1.9701139440567659,0.71338606911949],"aabb_xy":[[0.13022934303828929,-1.9846188029810283],[0.29022934035206127,-1.955609085132503]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_1","position":[0.08394743613952471,-1.4546338393649398,0.71338606911949],"aabb_xy":[[0.04292949275315383,-1.504633839995897],[0.12496537952589559,-1.4046338387339823]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_2","position":[0.24376012778916256,1.114747574599559,0.71338606911949],"aabb_xy":[[0.17876012668321925,1.089782201531431],[0.30876012889510585,1.1397129476676875]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_3","position":[0.48847021512291167,1.3626611143456158,0.71338606911949],"aabb_xy":[[0.47917659688576103,1.3251611158574816],[0.4977638333600622,1.4001611128337494]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_4","position":[0.6283637608139752,1.2361634288853258,0.71338606911949],"aabb_xy":[[0.578363762168054,1.1862438852258634],[0.6783637594598964,1.2860829725447882]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.2240155184772314,-1.0008413154797267,0.71338606911949],"aabb_xy":[[-0.2490155184097493,-1.00772398370065],[-0.19901551854471353,-0.9939586472588033]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_6","position":[-0.17478785906120697,-0.5357640763410609,0.71338606911949],"aabb_xy":[[-0.18725521717094262,-0.5482294009743844],[-0.16232050095147132,-0.5232987517077374]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_7","position":[-0.5283027325407285,1.6765971167120148,0.71338606911949],"aabb_xy":[[-0.5658027311163492,1.6638608210484571],[-0.4908027339651076,1.689333412375573]]},{"name":"st_hose_barb_y_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m02_8","position":[0.6097737648597277,0.5688526996194101,0.71338606911949],"aabb_xy":[[0.5722737649159613,0.5605596095845735],[0.6472737648034941,0.5771457896542467]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_9","position":[-0.2619717751158062,-1.9611668160177986,0.71338606911949],"aabb_xy":[[-0.3119717767773009,-2.011165258273501],[-0.21197177345431142,-1.9111683737620957]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_10","position":[0.44956438238075114,-2.1769279098504626,0.71338606911949],"aabb_xy":[[0.39956438101986386,-2.2269058144258778],[0.4995643837416383,-2.1269500052750465]]},{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_11","position":[0.05990508775536463,-1.8235495727510171,0.71338606911949],"aabb_xy":[[0.037405088231657224,-1.8460455202016375],[0.08240508727907203,-1.801053625300396]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_12","position":[-0.08471119211873113,1.6021437250165067,0.71338606911949],"aabb_xy":[[-0.15471119425016067,1.5793817593908106],[-0.014711189987301573,1.624905690642202]]},{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_13","position":[-0.6324850902384684,1.184271916739303,0.71338606911949],"aabb_xy":[[-0.6824693259466457,1.1342719179258074],[-0.5825008545302912,1.2342719155527986]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_14","position":[-0.027746894902918817,-2.4732860179521814,0.71338606911949],"aabb_xy":[[-0.03270291508780002,-2.4957860181543032],[-0.02279087471803762,-2.4507860177500604]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_15","position":[0.7112943811858072,0.8912286221368753,0.71338606911949],"aabb_xy":[[0.7071585248531073,0.8537286226925184],[0.7154302375185077,0.9287286215812324]]},{"name":"lh_dropper_bottle_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g02_m01_16","position":[0.429971719138154,1.1915152110786007,0.71338606911949],"aabb_xy":[[0.40991330752491373,1.1714501241694433],[0.4500301307513943,1.2115802979877581]]},{"name":"wc_crystallizing_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m01_17","position":[0.18923259455818686,-2.122083503022475,0.71338606911949],"aabb_xy":[[0.1092325913003439,-2.202080010814459],[0.2692325978160298,-2.042086995230491]]},{"name":"wc_stemless_funnel_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m02_18","position":[0.26505847009773176,1.5006739956502773,0.71338606911949],"aabb_xy":[[0.21508105323247814,1.4506739941610287],[0.3150358869629853,1.5506739971395258]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_19","position":[-0.6271625233989985,0.2892415460985882,0.71338606911949],"aabb_xy":[[-0.6324950380536114,0.28391721785335267],[-0.6218300087443855,0.29456587434382386]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_20","position":[0.5146803883556481,0.6450813382202831,0.71338606911949],"aabb_xy":[[0.5055205094117715,0.638550120176746],[0.5238402672995247,0.6516125562638201]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_21","position":[0.6321541963704327,-1.2448003399530152,0.71338606911949],"aabb_xy":[[0.6152434639340908,-1.2582725455456296],[0.6490649288067744,-1.2313281343604003]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_22","position":[0.4439766908392335,-1.7640885664364514,0.71338606911949],"aabb_xy":[[0.3839766903313806,-1.8209353001223725],[0.5039766913470864,-1.7072418327505299]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_23","position":[-0.5881018361841674,-0.13958052883252847,0.71338606911949],"aabb_xy":[[-0.6248964693090736,-0.17648640392911075],[-0.5513072030592611,-0.1026746537359462]]},{"name":"st_magnetic_stir_bar_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m01_24","position":[-0.43277254427274,1.5079846439009077,0.71338606911949],"aabb_xy":[[-0.44148651332267436,1.4854846432417192],[-0.4240585752228054,1.5304846445600957]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_25","position":[-0.6199830157596519,-0.33202678615755454,0.71338606911949],"aabb_xy":[[-0.6574830141830521,-0.3451910001253851],[-0.5824830173362514,-0.31886257218972386]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_26","position":[0.05504557545161015,1.3084582867761654,0.71338606911949],"aabb_xy":[[-0.0025848934356607063,1.2484582878494546],[0.11267604433888098,1.3684582857028758]]},{"name":"lh_pcr_tube_strip_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m02_27","position":[-0.5008719751592292,-0.04765555147564893,0.71338606911949],"aabb_xy":[[-0.5383719752648221,-0.05447771332863005],[-0.4633719750536362,-0.040833389622667804]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_28","position":[0.2784911426674914,-2.4805771443943865,0.71338606911949],"aabb_xy":[[0.2609444477513725,-2.518077145958638],[0.29603783758361035,-2.443077142830135]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_29","position":[0.044632211644938025,1.7658343499440146,0.71338606911949],"aabb_xy":[[-0.019367790575469,1.721461265818726],[0.10863221386534505,1.8102074340693026]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6945350676703684,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6102.png","name":"6102"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1813.png","name":"1813"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3603.png","name":"3603"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/763.png","name":"763"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7539.png","name":"7539"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":799.9597942589951,"rotation_z_degrees":182.41030229150817,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018887978619578718,0.01134419814371172,0.00848744296102065]},{"name":"camera_2","offset_m":[0.004023298667732718,0.0025529978089554595,-0.008292017799464651]},{"name":"camera_3","offset_m":[0.008015926643350397,0.00696755005389459,0.015271996804658312]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0010664407946450387,0.0008315864009762176,-0.001753194399465683],"end_effector_yaw_offset_degrees":-0.4383157251583889},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[5.723880983190188e-05,0.001697400272462696,0.001791627586741448],"end_effector_yaw_offset_degrees":-0.5676612016025413},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0007136304687671716,0.0011751419576937995,-0.0015944659306484934],"end_effector_yaw_offset_degrees":-0.058136856806048964},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00024166829417377627,0.0003047892006420119,0.0015672772285755055],"end_effector_yaw_offset_degrees":0.16268840078429347},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006321249567592916,-0.0013268148936422305,7.625362202143618e-05],"end_effector_yaw_offset_degrees":-0.6874288895625251},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0010505161646266977,0.0011082604886302424,-0.0013442285364317441],"end_effector_yaw_offset_degrees":-0.03473243460764808}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0022278576108705895,0.00498454268561668],"position_m":[0.31777214238912943,0.3580845426856167,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.004004900901347951,0.0011330500948790404],"position_m":[0.18400490090134794,-0.03246694990512096,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0038463037528684244,0.0028355281394053097],"position_m":[0.2681536962471316,-0.3644644718605947,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.00436886594369556,0.0007930180712083556],"position_m":[0.3428688659436956,0.10929301807120835,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"cc27c52567c04c1d904672b7690cb866b4b4e3dfc9ec461cee63f9ef5f0ec428","episode_index":79,"episode_name":"episode_0079"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0079.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_6102/tex_ceiling_textures_7539/tex_floor_textures_763/tex_table_textures_1813/tex_wall_textures_3603","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":62592475250784846,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":62592475250784846,"visual_seed":62592475250784846,"scene_id":"lab_003","finished_at":"2026-09-06T19:35:33"} +{"episode_id":"ep_000079","started_at":"2026-09-06T19:35:41","dimensions":{"distractor":{"count":29,"items":[{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_0","position":[0.6425328447282126,0.24109506956764948,0.71338606911949],"aabb_xy":[[0.5925540362178967,0.19109506956193065],[0.6925116532385285,0.2910950695733683]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_1","position":[-0.017657233624658875,1.742626509086954,0.71338606911949],"aabb_xy":[[-0.05620292644985991,1.7040807380307652],[0.020888459200542157,1.7811722801431427]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_2","position":[-0.11874110535339288,0.6240565541019794,0.71338606911949],"aabb_xy":[[-0.1296468814409556,0.5440565577031501],[-0.10783532926583017,0.7040565505008084]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_3","position":[0.5476703081739784,-0.5358857352827586,0.71338606911949],"aabb_xy":[[0.4676703049099653,-0.5494457675916719],[0.6276703114379916,-0.5223257029738452]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_4","position":[0.6525215185139943,0.3644250521697687,0.71338606911949],"aabb_xy":[[0.6280078944169885,0.3401604588677323],[0.6770351426110002,0.3886896454718052]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_5","position":[0.2819199843683765,-1.932636458664064,0.71338606911949],"aabb_xy":[[0.2755061707251915,-1.939046278911732],[0.2883337980115614,-1.9262266384163953]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_6","position":[0.17608318705664572,1.472358611477421,0.71338606911949],"aabb_xy":[[0.16803982713069052,1.3873586103820545],[0.18412654698260086,1.5573586125727874]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_7","position":[0.26841092454527127,1.1848281210423717,0.71338606911949],"aabb_xy":[[0.23801281344612765,1.154421219040702],[0.2988090356444148,1.215235023044041]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[0.6709159719260744,1.0505459236804362,0.71338606911949],"aabb_xy":[[0.6359159727961187,1.044800702604772],[0.70591597105603,1.0562911447561003]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_9","position":[0.0675162276800807,-0.8205472371699372,0.71338606911949],"aabb_xy":[[0.04993792549113385,-0.8381217267440421],[0.08509452986902755,-0.8029727475958323]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_10","position":[-0.3457510498988974,-1.576804446806093,0.71338606911949],"aabb_xy":[[-0.4097510490686673,-1.6235711339250556],[-0.2817510507291274,-1.5300377596871306]]},{"name":"st_tubing_clamp_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m02_11","position":[0.6799459850429699,1.7688037016235376,0.71338606911949],"aabb_xy":[[0.642445984378391,1.7531166436233152],[0.7174459857075484,1.7844907596237596]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_12","position":[0.25708331396296535,-0.8178254089526877,0.71338606911949],"aabb_xy":[[0.20995393496112957,-0.8818254099970896],[0.3042126929648009,-0.7538254079082857]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_13","position":[0.5249775694558241,0.8051972475594829,0.71338606911949],"aabb_xy":[[0.48747756916364915,0.8011557721588792],[0.5624775697479988,0.8092387229600865]]},{"name":"lh_reagent_reservoir_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m01_14","position":[-0.5739019999451239,1.1759331684873113,0.71338606911949],"aabb_xy":[[-0.6389020010510672,1.1509677954191833],[-0.5089019988391806,1.2008985415554398]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_15","position":[0.42554967850790026,-1.1954616934013176,0.71338606911949],"aabb_xy":[[0.3880496781596725,-1.2072530889824011],[0.463049678856128,-1.183670297820234]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_16","position":[-0.1547937245366222,-2.1615655399387017,0.71338606911949],"aabb_xy":[[-0.17507802726002095,-2.18184816508141],[-0.13450942181322342,-2.1412829147959926]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_17","position":[-0.33845844134511316,-0.4366157889940676,0.71338606911949],"aabb_xy":[[-0.37495426197239184,-0.4730997314208252],[-0.30196262071783436,-0.40013184656731005]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_18","position":[0.6405878421031352,-2.1752644094449383,0.71338606911949],"aabb_xy":[[0.6288196553084778,-2.2602644093501603],[0.6523560288977929,-2.090264409539717]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_19","position":[0.6012573667258019,-0.18889411733591244,0.71338606911949],"aabb_xy":[[0.5512840727225414,-0.23889411789045975],[0.6512306607290623,-0.13889411678136507]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_20","position":[0.5606236530676914,1.280830821299232,0.71338606911949],"aabb_xy":[[0.5237731051307037,1.2433308204761984],[0.597474201004679,1.3183308221222658]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_21","position":[-0.0016423069060333972,-1.8742434770216811,0.71338606911949],"aabb_xy":[[-0.08164230386907256,-1.9513191186654544],[0.07835769005700577,-1.7971678353779075]]},{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_22","position":[0.42781268700945674,1.7618705027880313,0.71338606911949],"aabb_xy":[[0.39031268621746124,1.755502661829841],[0.46531268780145213,1.7682383437462215]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_23","position":[-0.3747415896289604,0.38564451231293306,0.71338606911949],"aabb_xy":[[-0.4242220108429192,0.32164451440008124],[-0.32526116841500163,0.4496445102257849]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_24","position":[-0.5803582176924692,-1.8427512305839007,0.71338606911949],"aabb_xy":[[-0.5897052252747644,-1.8570548528015447],[-0.571011210110174,-1.8284476083662566]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_25","position":[-0.5783814001154847,-1.068481482170584,0.71338606911949],"aabb_xy":[[-0.6583814015456119,-1.1479986371831932],[-0.49838139868535747,-0.9889643271579742]]},{"name":"wc_evaporating_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m02_26","position":[0.0791191552168472,-1.1203079760352619,0.71338606911949],"aabb_xy":[[0.019119154620831025,-1.1751204485804851],[0.13911915581286338,-1.0654955034900382]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_27","position":[-0.41178210393655257,1.4340904413535847,0.71338606911949],"aabb_xy":[[-0.476782106574346,1.382610842654138],[-0.346782101298759,1.4855700400530318]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_28","position":[0.20432830116944967,-2.5316131408818654,0.71338606911949],"aabb_xy":[[0.19117705519816033,-2.5566131406385524],[0.21747954714073905,-2.5066131411251793]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6989544917372716,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3802.png","name":"3802"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3802.png","name":"3802"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4262.png","name":"4262"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9456.png","name":"9456"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/550.png","name":"550"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7483.png","name":"7483"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":751.3951754319546,"rotation_z_degrees":241.25851160855478,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.004349519282396356,-0.008819370718755227,0.013717758939105481]},{"name":"camera_2","offset_m":[-0.01029725459053958,0.01813494588189497,-0.011208031991857692]},{"name":"camera_3","offset_m":[0.007093501661149571,-0.016702878176309388,0.0018082588760345124]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004271956826039781,0.00033007856333614177,-0.0001871909132760447],"end_effector_yaw_offset_degrees":-0.6494800099970375},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0016465938248349998,0.0010227168434030968,-0.0016809690208437296],"end_effector_yaw_offset_degrees":-0.31409015187121603},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0013735361441558505,0.001170990289109958,9.538364415903914e-05],"end_effector_yaw_offset_degrees":-0.9695516864199993},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.00015524643273002016,-0.0018105937199155747,0.0008977002807203311],"end_effector_yaw_offset_degrees":0.12740311984681751},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0011153599219722735,0.0017457519713615453,0.00026610718388671165],"end_effector_yaw_offset_degrees":0.9409233010069693},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0007625589260401725,-0.0014218396903387122,-3.066959997677062e-05],"end_effector_yaw_offset_degrees":-0.11529751599023408}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0008844061114057665,-0.003347447596100095],"position_m":[0.3208844061114058,0.3497525524038999,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0042709694211305995,-0.004450933096075452],"position_m":[0.1757290305788694,-0.03805093309607545,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0025333461925806243,-0.0034269373905154244],"position_m":[0.2694666538074194,-0.37072693739051543,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019450129186483556,-0.004695365411293786],"position_m":[0.34044501291864837,0.10380463458870622,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5b9d0b8936f90f8af4b22e4400ae1e0ac11d334655cb1a6dd2672ed602c64cc1","episode_index":80,"episode_name":"episode_0080"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0080.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_3802/tex_ceiling_textures_7483/tex_floor_textures_550/tex_table_textures_4262/tex_wall_textures_9456","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5516239774682668062,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5516239774682668062,"visual_seed":5516239774682668062,"scene_id":"lab_003","finished_at":"2026-09-06T19:43:00"} +{"episode_id":"ep_000080","started_at":"2026-09-06T19:43:07","dimensions":{"distractor":{"count":24,"items":[{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_0","position":[-0.2717613185094136,-2.5388995772828706,0.71338606911949],"aabb_xy":[[-0.2869334877910469,-2.554068434211074],[-0.2565891492277802,-2.523730720354667]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_1","position":[0.414441938669867,-1.5649929410963435,0.71338606911949],"aabb_xy":[[0.35044193950009705,-1.611759628215306],[0.47844193783963695,-1.518226253977381]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_2","position":[0.3998664033795001,0.6810191001614219,0.71338606911949],"aabb_xy":[[0.38166057971825246,0.6699936995794303],[0.4180722270407478,0.6920445007434136]]},{"name":"lh_cryovial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m02_3","position":[0.557211382923122,-0.740568839438219,0.71338606911949],"aabb_xy":[[0.5490977282497449,-0.7486746558922481],[0.5653250375964991,-0.73246302298419]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[-0.5924304425571343,0.6859904356861524,0.71338606911949],"aabb_xy":[[-0.6724304399607277,0.6059978644879696],[-0.5124304451535409,0.7659830068843352]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_5","position":[0.29164842136510394,1.0408814570185911,0.71338606911949],"aabb_xy":[[0.2541484227894831,1.028145161355033],[0.3291484199407247,1.0536177526821489]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_6","position":[0.31202751568883724,-2.183549602400312,0.71338606911949],"aabb_xy":[[0.24802751498536796,-2.229567984873233],[0.3760275163923067,-2.137531219927391]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_7","position":[-0.21074180660086816,0.6242793414401118,0.71338606911949],"aabb_xy":[[-0.2492874994260692,0.585733570383923],[-0.17219611377566713,0.6628251124963003]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_8","position":[-0.33236071918841986,-1.0468218830403844,0.71338606911949],"aabb_xy":[[-0.41236071777573924,-1.126137484978545],[-0.2523607206011004,-0.9675062811022234]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_9","position":[0.6488225930145379,1.4211591803436776,0.71338606911949],"aabb_xy":[[0.6163608921326102,1.3910263482287748],[0.6812842938964652,1.45129201245858]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[-0.119462999856212,-1.1406366026175594,0.71338606911949],"aabb_xy":[[-0.13857530721419087,-1.1597713814948012],[-0.10035069249823314,-1.1215018237403171]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_11","position":[-0.22862192462878805,1.1474847744296164,0.71338606911949],"aabb_xy":[[-0.2335212169353515,1.1198078551270476],[-0.2237226323222245,1.1751616937321852]]},{"name":"wc_evaporating_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g03_m01_12","position":[0.03059885293660214,-2.4691408375012234,0.71338606911949],"aabb_xy":[[-0.02940114731479904,-2.5234221625376883],[0.09059885318800331,-2.4148595124647585]]},{"name":"lh_specimen_cup_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m01_13","position":[0.6011945760135959,1.1511731932171956,0.71338606911949],"aabb_xy":[[0.5766483603908451,1.1209242966681583],[0.6257407916363465,1.1814220897662324]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_14","position":[-0.34961259653309545,-2.2676319116990586,0.71338606911949],"aabb_xy":[[-0.4296125936926707,-2.2791795126568752],[-0.2696125993735201,-2.256084310741241]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_15","position":[0.5841035159753563,-0.08253230690549529,0.71338606911949],"aabb_xy":[[0.5201035140630139,-0.13844345616350573],[0.6481035178876986,-0.02662115764748485]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.25181820057112125,1.4186399029947876,0.71338606911949],"aabb_xy":[[-0.3318181975341604,1.341564261351014],[-0.1718182036080821,1.4957155446385608]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_17","position":[-0.06007509114997023,-0.7687528224289997,0.71338606911949],"aabb_xy":[[-0.08035939387336898,-0.7890354475717084],[-0.03979078842657146,-0.7484701972862907]]},{"name":"lh_sample_storage_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m02_18","position":[-0.11126688959582443,0.27559401159484453,0.71338606911949],"aabb_xy":[[-0.12373424770556007,0.2631286869615211],[-0.09879953148608878,0.2880593362281681]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_19","position":[-0.5175280084597502,-2.0809836992726938,0.71338606911949],"aabb_xy":[[-0.5301307075968267,-2.0935790954975597],[-0.5049253093226738,-2.0683883030478287]]},{"name":"wc_watch_glass_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m01_20","position":[-0.3090559531884573,-0.7027111723869903,0.71338606911949],"aabb_xy":[[-0.35905595454934447,-0.752689076962406],[-0.25905595182757,-0.6527332678115747]]},{"name":"wc_weighing_bottle_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m01_21","position":[0.3260223652912513,-1.691203931551288,0.71338606911949],"aabb_xy":[[0.2915600178931094,-1.7256978139491101],[0.360484712689393,-1.6567100491534648]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_22","position":[0.6509583862337236,1.6334730436945502,0.71338606911949],"aabb_xy":[[0.6455004405967035,1.553473040386891],[0.6564163318707437,1.7134730470022093]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_23","position":[-0.08132953617975747,-1.4021020435227576,0.71338606911949],"aabb_xy":[[-0.10382867190598442,-1.4246020443010206],[-0.05883040045353048,-1.3796020427444946]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6972229857381784,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3363.png","name":"3363"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3363.png","name":"3363"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6171.png","name":"6171"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4760.png","name":"4760"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3375.png","name":"3375"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1673.png","name":"1673"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":711.5045735962161,"rotation_z_degrees":339.7088197239957,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.018746378612705818,-0.014156218560010885,0.004872117227984134]},{"name":"camera_2","offset_m":[0.0037005539657522894,0.007420926740062304,-0.017411573890125487]},{"name":"camera_3","offset_m":[0.0011898893688045663,0.017603008447342677,-0.009056587500713925]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014579043305626028,0.0019138293003160773,0.0003473616806879665],"end_effector_yaw_offset_degrees":-0.07572585431943746},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001813719661441162,0.001511317985864726,-0.00196879975121579],"end_effector_yaw_offset_degrees":-0.6585212484771907},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005137758810473542,-0.00044695898393845514,0.001916127281500409],"end_effector_yaw_offset_degrees":0.6631462797401984},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0019352561703311847,-0.0005245680184853469,-0.0011527105051295922],"end_effector_yaw_offset_degrees":-0.9582316343892978},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0013322010941376554,0.0008543780624292591,0.0005877126886633067],"end_effector_yaw_offset_degrees":-0.9759021503863146},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00022663901440014953,-0.0009776591990279596,-0.000680977759237638],"end_effector_yaw_offset_degrees":-0.1742603701908385}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.002772841044561314,-0.0023330920292871484],"position_m":[0.3172271589554387,0.35076690797071286,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007507153599795504,-0.0006086873449155416],"position_m":[0.18075071535997955,-0.03420868734491554,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009795813092063378,0.002365292576372133],"position_m":[0.2710204186907937,-0.3649347074236279,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0047166157925567324,0.00010215022538798395],"position_m":[0.3337833842074433,0.10860215022538798,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"2a6413f3d98f8492c6265e63596d2127dfbe130d106df98bd8acbb5e34ad20c6","episode_index":81,"episode_name":"episode_0081"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0081.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_3363/tex_ceiling_textures_1673/tex_floor_textures_3375/tex_table_textures_6171/tex_wall_textures_4760","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2392818500708950255,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2392818500708950255,"visual_seed":2392818500708950255,"scene_id":"lab_003","finished_at":"2026-09-06T19:49:47"} +{"episode_id":"ep_000081","started_at":"2026-09-06T19:49:54","dimensions":{"distractor":{"count":27,"items":[{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_0","position":[-0.5263102999924063,0.5217678048730745,0.71338606911949],"aabb_xy":[[-0.5913102978740541,0.47064414116653375],[-0.4613103021107585,0.5728914685796155]]},{"name":"lh_pipette_tip_rack_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g03_m01_1","position":[-0.49082720600497404,0.806282801498651,0.71338606911949],"aabb_xy":[[-0.5558272060392768,0.7595821248183237],[-0.4258272059706713,0.8529834781789782]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_2","position":[0.3333791057763762,1.3921857630650685,0.71338606911949],"aabb_xy":[[0.32329739869780266,1.3121857651729536],[0.3434608128549496,1.472185760957183]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_3","position":[-0.41328220037466606,-0.05067277915962487,0.71338606911949],"aabb_xy":[[-0.4205434479450735,-0.06345978942313435],[-0.40602095280425865,-0.03788576889611539]]},{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_4","position":[0.5875031455889095,1.594567640974582,0.71338606911949],"aabb_xy":[[0.5396969779751407,1.5295676382675227],[0.635309313202678,1.6595676436816407]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_5","position":[0.23444354567580894,0.8022032247839368,0.71338606911949],"aabb_xy":[[0.211527832790759,0.7792989276475134],[0.25735925856085884,0.8251075219203604]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_6","position":[0.32109641517138665,-2.2761394222200995,0.71338606911949],"aabb_xy":[[0.2711231211681262,-2.3261394227746464],[0.3710697091746471,-2.2261394216655517]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_7","position":[0.12057699054900783,-2.357511450984812,0.71338606911949],"aabb_xy":[[0.09868724296006705,-2.447511448274061],[0.14246673813794863,-2.2675114536955627]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_8","position":[0.36578260380032623,-1.932113753810646,0.71338606911949],"aabb_xy":[[0.3483518887213197,-1.9493858684744967],[0.38321331887933274,-1.914841639146795]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[-0.295285404919411,-1.491573989258979,0.71338606911949],"aabb_xy":[[-0.36028540591991154,-1.542360354413654],[-0.2302854039189105,-1.440787624104304]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[0.4377626120477842,-1.265142490171535,0.71338606911949],"aabb_xy":[[0.38794583258294946,-1.3151424886558383],[0.487579391512619,-1.2151424916872315]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_11","position":[0.04790049714628475,1.613168786566216,0.71338606911949],"aabb_xy":[[-0.016099506072353102,1.5664456746672077],[0.1119005003649226,1.6598918984652244]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_12","position":[-0.5261569517954843,-0.4510726780528973,0.71338606911949],"aabb_xy":[[-0.5486217217668893,-0.4735726789317578],[-0.503692181824079,-0.4285726771740368]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_13","position":[0.42620311260537247,-2.3858727141788645,0.71338606911949],"aabb_xy":[[0.401203113053634,-2.396015198043999],[0.45120311215711095,-2.3757302303137298]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_14","position":[-0.4580994361748931,0.3092861510032625,0.71338606911949],"aabb_xy":[[-0.5080994348208143,0.2593666073438001],[-0.4080994375289719,0.3592056946627249]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_15","position":[-0.22836409325080553,-1.0063060808270488,0.71338606911949],"aabb_xy":[[-0.2783640942013383,-1.0378552278305702],[-0.17836409230027267,-0.9747569338235273]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_16","position":[-0.4209847814794605,-1.3062425157313555,0.71338606911949],"aabb_xy":[[-0.5009847784424997,-1.3833181573751288],[-0.34098478451642134,-1.2291668740875819]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_17","position":[0.34293847478970196,-2.4840107336879687,0.71338606911949],"aabb_xy":[[0.3142891424292857,-2.512656292965044],[0.37158780715011813,-2.4553651744108924]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_18","position":[-0.6408506849713463,-1.4880918459072725,0.71338606911949],"aabb_xy":[[-0.6858506864375753,-1.5330917027687534],[-0.5958506835051176,-1.4430919890457918]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_19","position":[-0.14005204545707162,0.698189226374442,0.71338606911949],"aabb_xy":[[-0.1470934964078192,0.6911624746366475],[-0.13301059450632402,0.7052159781122366]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_20","position":[0.1239649057349832,1.4442703951497715,0.71338606911949],"aabb_xy":[[0.08896490583896433,1.4358961596378315],[0.15896490563100207,1.4526446306617116]]},{"name":"lh_pcr_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m02_21","position":[-0.38715990061832484,-0.5920044681477534,0.71338606911949],"aabb_xy":[[-0.39159052997316507,-0.5974528398824361],[-0.3827292712634847,-0.5865560964130709]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[0.11500996153024423,-1.6188393249782629,0.71338606911949],"aabb_xy":[[0.08069368435562631,-1.6688393249514408],[0.14932623870486217,-1.5688393250050854]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_23","position":[-0.2563537341238502,-0.229905937469721,0.71338606911949],"aabb_xy":[[-0.3363537321046352,-0.2375074784315729],[-0.17635373614306513,-0.222304396507869]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_24","position":[-0.6148421926465677,0.17744738444443797,0.71338606911949],"aabb_xy":[[-0.6788421959362758,0.13411246544052036],[-0.5508421893568596,0.2207823034483556]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_25","position":[-0.4141949544534471,1.0671737579921037,0.71338606911949],"aabb_xy":[[-0.4308720904465427,1.0504738340181734],[-0.39751781846035167,1.083873681966034]]},{"name":"lh_bulk_pipette_tip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m01_26","position":[-0.0029902556743434117,-2.5462171058745326,0.71338606911949],"aabb_xy":[[-0.0070684135813931515,-2.5502980861227957],[0.0010879022327063277,-2.5421361256262696]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7003549635624418,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6718.png","name":"6718"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6718.png","name":"6718"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/216.png","name":"216"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/647.png","name":"647"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/710.png","name":"710"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9818.png","name":"9818"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":733.2663338900331,"rotation_z_degrees":251.55366405626822,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.006918118102297468,-0.014529005921660336,-0.00908410174192043]},{"name":"camera_2","offset_m":[0.01611298154528092,0.006039118467817465,-0.01519363440033016]},{"name":"camera_3","offset_m":[-0.006278884180792775,-0.015493476772886025,-0.016270452279239254]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0018253073478214739,0.0008220342218890012,0.0009405647075398584],"end_effector_yaw_offset_degrees":-0.4935423196045299},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[2.1397255950290298e-05,-0.0006117176610668761,-0.0005565559261764639],"end_effector_yaw_offset_degrees":0.5730340495792892},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0013951739828412294,-0.0008168280954617528,0.0015125485295731079],"end_effector_yaw_offset_degrees":-0.9301420483939937},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001439046358387176,0.0008023405076300928,0.0007376653282720608],"end_effector_yaw_offset_degrees":0.09974619834673026},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0014584609198281953,0.0006524135811028764,0.0017785229726746715],"end_effector_yaw_offset_degrees":-0.6518843006660571},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018427789198062461,0.0009178636480022487,-0.0019111509992884087],"end_effector_yaw_offset_degrees":0.7746365235435027}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016395087299415625,0.0011966318451934908],"position_m":[0.32163950872994157,0.3542966318451935,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.003908294860608304,-0.0006235175394256158],"position_m":[0.1839082948606083,-0.03422351753942561,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0008019240479773503,-0.0007143626726683174],"position_m":[0.2728019240479774,-0.36801436267266835,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0010615919799737963,0.004056912758026992],"position_m":[0.3374384080200262,0.112556912758027,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"52d667b350f1bad9bfe3496f22eec8197d285f853b753991b48b647da2ed6cfe","episode_index":82,"episode_name":"episode_0082"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0082.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_6718/tex_ceiling_textures_9818/tex_floor_textures_710/tex_table_textures_216/tex_wall_textures_647","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2472235399991314643,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2472235399991314643,"visual_seed":2472235399991314643,"scene_id":"lab_003","finished_at":"2026-09-06T19:56:44"} +{"episode_id":"ep_000082","started_at":"2026-09-06T19:56:50","dimensions":{"distractor":{"count":30,"items":[{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_0","position":[-0.6500372695545955,-0.4922186028211102,0.71338606911949],"aabb_xy":[[-0.6572810356008407,-0.5722186010247126],[-0.6427935035083501,-0.4122186046175078]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_1","position":[-0.5637014657412407,-0.00906709211487211,0.71338606911949],"aabb_xy":[[-0.6287014642983134,-0.03881962552875473],[-0.49870146718416775,0.02068544129901051]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_2","position":[-0.3166485859759805,1.412945554519117,0.71338606911949],"aabb_xy":[[-0.38064858240330246,1.3657759306970205],[-0.25264858954865865,1.4601151783412134]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.14196486291787547,-1.686724728778155,0.71338606911949],"aabb_xy":[[0.13732974776564202,-1.6905920638553038],[0.1465999780701088,-1.6828573937010063]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_4","position":[0.2342705000332307,-1.2353168757355841,0.71338606911949],"aabb_xy":[[0.18427049908269785,-1.2668660227391055],[0.2842705009837635,-1.2037677287320627]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_5","position":[-0.16585733238281852,-0.7133531675096221,0.71338606911949],"aabb_xy":[[-0.17900857835410788,-0.7383531672663086],[-0.15270608641152916,-0.6883531677529355]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_6","position":[0.40715114957001575,1.273077960603484,0.71338606911949],"aabb_xy":[[0.40219512938513463,1.2505779604013625],[0.412107169754897,1.2955779608056057]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_7","position":[-0.11720080117726472,-1.5278694749688366,0.71338606911949],"aabb_xy":[[-0.19719462475582294,-1.6078694775616784],[-0.0372069775987065,-1.4478694723759953]]},{"name":"lh_cryovial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m02_8","position":[-0.18437584715258115,0.5966095804259623,0.71338606911949],"aabb_xy":[[-0.19141729810332875,0.5895828286881678],[-0.17733439620183356,0.6036363321637569]]},{"name":"st_lab_spoon_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g04_m01_9","position":[0.5953775190953405,-0.5077854204909604,0.71338606911949],"aabb_xy":[[0.5873341591693853,-0.5927854215863269],[0.6034208790212956,-0.422785419395594]]},{"name":"st_magnetic_stir_bar_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m02_10","position":[-0.4258513925382634,-0.4068072694468392,0.71338606911949],"aabb_xy":[[-0.4483513923521657,-0.41128188581731984],[-0.40335139272436094,-0.40233265307635846]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_11","position":[0.6452953633927832,-0.22976528329598267,0.71338606911949],"aabb_xy":[[0.5752953669828211,-0.2502032189476643],[0.7152953598027447,-0.2093273476443009]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_12","position":[0.25797151672976104,-2.1072775101227714,0.71338606911949],"aabb_xy":[[0.2530722244231975,-2.13495442942534],[0.2628708090363245,-2.0796005908202027]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_13","position":[-0.6764461125762596,1.165404900829674,0.71338606911949],"aabb_xy":[[-0.6820277842103882,1.1529049010118984],[-0.6708644409421308,1.1779049006474493]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_14","position":[-0.6079988548117942,1.3215422971260353,0.71338606911949],"aabb_xy":[[-0.630171381788445,1.2993666299699123],[-0.5858263278351433,1.3437179642821584]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_15","position":[-0.47612795624526094,-1.4939733237829729,0.71338606911949],"aabb_xy":[[-0.5261279575291007,-1.543952178173595],[-0.42612795496142086,-1.4439944693923508]]},{"name":"st_curved_forceps_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g02_m01_16","position":[0.06909552191761248,1.5647248488429804,0.71338606911949],"aabb_xy":[[-0.010904476063172559,1.5571233078811284],[0.14909551989839753,1.5723263898048323]]},{"name":"st_luer_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m02_17","position":[0.1200827592129522,-1.786003552152089,0.71338606911949],"aabb_xy":[[0.09508275994098991,-1.8023489157482513],[0.14508275848491448,-1.7696581885559266]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_18","position":[-0.518745038683357,-0.2599561498412375,0.71338606911949],"aabb_xy":[[-0.5363233408723038,-0.2775306394153424],[-0.5011667364944101,-0.2423816602671326]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_19","position":[-0.5196242798595276,-0.7910360620221744,0.71338606911949],"aabb_xy":[[-0.5996242801331345,-0.8639856098478912],[-0.4396242795859206,-0.7180865141964577]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_20","position":[-0.23795932580739948,0.1421845937919839,0.71338606911949],"aabb_xy":[[-0.24804103288597293,0.062184595899869216],[-0.22787761872882598,0.22218459168409851]]},{"name":"lh_bulk_pipette_tip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m01_21","position":[-0.0923815428739615,-0.9288769662043865,0.71338606911949],"aabb_xy":[[-0.10116277002119774,-0.9376567134929168],[-0.08360031572672527,-0.9200972189158565]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[-0.2232784457079922,-2.239764308548743,0.71338606911949],"aabb_xy":[[-0.26077844689278495,-2.244182531244803],[-0.18577844452319936,-2.235346085852682]]},{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_23","position":[-0.49790603593676336,0.16063676034600993,0.71338606911949],"aabb_xy":[[-0.5479060369558986,0.12417054460818203],[-0.4479060349176281,0.19710297608383792]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_24","position":[0.666160557991468,-2.452281435654191,0.71338606911949],"aabb_xy":[[0.6436605574794274,-2.474773294019589],[0.6886605585035086,-2.4297895772887923]]},{"name":"wc_glass_petri_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m01_25","position":[0.5539423987654128,-0.6894432694611934,0.71338606911949],"aabb_xy":[[0.4989423991436671,-0.7444269622486661],[0.6089423983871588,-0.6344595766737207]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_26","position":[0.19787505442665643,-1.0235336466625462,0.71338606911949],"aabb_xy":[[0.1811979184335609,-1.0402335706364765],[0.2145521904197519,-1.006833722688616]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_27","position":[0.5324780460961189,-0.08529128644963135,0.71338606911949],"aabb_xy":[[0.49568341297121266,-0.12219716154621363],[0.5692726792210252,-0.04838541135304908]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_28","position":[0.02772025991078031,0.9984373890803075,0.71338606911949],"aabb_xy":[[-0.002271402823090022,0.968437389743507],[0.05771192264465064,1.028437388417108]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_29","position":[0.5963945419946866,1.550230296923147,0.71338606911949],"aabb_xy":[[0.585542935745811,1.539371006195496],[0.6072461482435622,1.561089587650798]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7043116027695695,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9723.png","name":"9723"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9201.png","name":"9201"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4291.png","name":"4291"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7888.png","name":"7888"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9635.png","name":"9635"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":674.3657528756285,"rotation_z_degrees":163.1926768200194,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.004270540402215098,-0.002841492999793957,0.01704901615983102]},{"name":"camera_2","offset_m":[0.0022970718990613197,-0.008254222489487435,0.016211892899700212]},{"name":"camera_3","offset_m":[0.010201066293465878,0.0027169851918979263,0.0013065403736768622]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001401860395780637,0.0007052653057688088,-0.0015444999274930793],"end_effector_yaw_offset_degrees":-0.4449527245794833},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0009831873918174556,-0.00041328234823622616,0.0009010539002420161],"end_effector_yaw_offset_degrees":0.9873537736900395},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0014171575804744884,0.0016469679619452093,-0.0003735018357366182],"end_effector_yaw_offset_degrees":0.5883039716877547},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0009295795968763164,-0.0006913786551530632,-0.0006209057701435463],"end_effector_yaw_offset_degrees":-0.8724059480422104},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0018552700797492734,-0.00016022490092170967,-0.0008162300992577078],"end_effector_yaw_offset_degrees":0.33841565278071406},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.00040446656847845075,6.330080592974923e-05,-0.000244435005505451],"end_effector_yaw_offset_degrees":-0.057906850569420465}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004619067790255462,0.001689586613676827],"position_m":[0.32461906779025546,0.3547895866136769,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0018945445781733306,0.003087630561584857],"position_m":[0.17810545542182665,-0.030512369438415142,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004180926734481913,-0.0027729818009810327],"position_m":[0.2761809267344819,-0.370072981800981,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0008772520189009496,0.0005864693698633709],"position_m":[0.33937725201890095,0.10908646936986337,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"60bf042840c217ccc0f6e4898d5679601613ee3523600e1ea7278e5ffffc85e6","episode_index":83,"episode_name":"episode_0083"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0083.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9723/tex_ceiling_textures_9635/tex_floor_textures_7888/tex_table_textures_9201/tex_wall_textures_4291","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8328355619466679829,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8328355619466679829,"visual_seed":8328355619466679829,"scene_id":"lab_003","finished_at":"2026-09-06T20:03:45"} +{"episode_id":"ep_000083","started_at":"2026-09-06T20:03:52","dimensions":{"distractor":{"count":34,"items":[{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_0","position":[0.6842086833434686,1.2404364554391747,0.71338606911949],"aabb_xy":[[0.6667779682644619,1.2231643407753237],[0.7016393984224749,1.2577085701030253]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_1","position":[-0.2346983655813486,0.3503763343569859,0.71338606911949],"aabb_xy":[[-0.2896983637830934,0.30985436773054825],[-0.17969836737960374,0.39089830098342343]]},{"name":"lh_microplate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m02_2","position":[-0.442427901685127,-2.5216573334753236,0.71338606911949],"aabb_xy":[[-0.5064235990802235,-2.585657331776032],[-0.3784322042900304,-2.4576573351746145]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[-0.024091038707934276,-1.00747778556284,0.71338606911949],"aabb_xy":[[-0.07906476074426716,-1.0624777851270732],[0.03088268332839861,-0.9524777859986069]]},{"name":"lh_microcentrifuge_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m02_4","position":[0.5236912040372959,-1.798372431695034,0.71338606911949],"aabb_xy":[[0.5177246650965601,-1.8043335763543982],[0.5296577429780316,-1.7924112870356699]]},{"name":"st_curved_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m01_5","position":[-0.03545720704030242,-1.2945637075330294,0.71338606911949],"aabb_xy":[[-0.1154572040545504,-1.3146982592064407],[0.04454278997394556,-1.2744291558596181]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[0.6309257627839249,1.4178362670006055,0.71338606911949],"aabb_xy":[[0.5669257656718192,1.3688038972061949],[0.6949257598960306,1.4668686367950161]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_7","position":[0.36106263358204327,-1.7896245082659754,0.71338606911949],"aabb_xy":[[0.30704703730014327,-1.8536245111582326],[0.41507822986394327,-1.7256245053737183]]},{"name":"lh_microcentrifuge_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m02_8","position":[0.4837263198610324,-0.4072167312216104,0.71338606911949],"aabb_xy":[[0.47631386431964395,-0.4130679416432383],[0.4911387754024209,-0.4013655207999824]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_9","position":[-0.3307286326941044,-0.3553596317275103,0.71338606911949],"aabb_xy":[[-0.3907286332019573,-0.41220636541343153],[-0.27072863218625143,-0.2985128980415889]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_10","position":[0.6317015909806325,-0.7815591906749486,0.71338606911949],"aabb_xy":[[0.6182550643465892,-0.7950290423280397],[0.6451481176146758,-0.7680893390218573]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_11","position":[-0.6323041689220901,-2.5082634756682833,0.71338606911949],"aabb_xy":[[-0.6601492057026972,-2.539047974406595],[-0.604459132141483,-2.4774789769299717]]},{"name":"st_straight_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m02_12","position":[0.4634108661641456,1.182956600346437,0.71338606911949],"aabb_xy":[[0.4579529205271255,1.1029565970387776],[0.46886881180116563,1.2629566036540958]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_13","position":[-0.4479992534788771,-1.1373277621806115,0.71338606911949],"aabb_xy":[[-0.45333176813349013,-1.142652090425847],[-0.44266673882426416,-1.132003433935376]]},{"name":"lh_cell_culture_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m02_14","position":[-0.1446121248968164,-1.945930631356823,0.71338606911949],"aabb_xy":[[-0.20861212348338887,-1.9929375947563315],[-0.08061212631024395,-1.898923667957314]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_15","position":[0.48185103126291295,-2.1960181545385438,0.71338606911949],"aabb_xy":[[0.4742267631727348,-2.2036513780750875],[0.4894752993530913,-2.188384931002]]},{"name":"lh_plastic_screw_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g01_m01_16","position":[-0.1904149781594291,-0.7579207353588449,0.71338606911949],"aabb_xy":[[-0.20301767729650555,-0.7705161315837105],[-0.17781227902235264,-0.7453253391339795]]},{"name":"lh_scintillation_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m02_17","position":[-0.1356145749726858,-1.6055063397639644,0.71338606911949],"aabb_xy":[[-0.16560623770655614,-1.635506339100765],[-0.10562291223881548,-1.5755063404271639]]},{"name":"st_micro_spatula_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m01_18","position":[0.5338183721711336,-1.3327342246299416,0.71338606911949],"aabb_xy":[[0.5265360557944697,-1.4227342282394502],[0.541100688547797,-1.2427342210204322]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_19","position":[-0.05259383885534563,-0.702741073438673,0.71338606911949],"aabb_xy":[[-0.11659383911581644,-0.7477498727916009],[0.011406161405125173,-0.6577322740857449]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_20","position":[0.5772790490338287,-2.417728004496692,0.71338606911949],"aabb_xy":[[0.5520582121739889,-2.4429517553495774],[0.6024998858936682,-2.3925042536438044]]},{"name":"lh_sample_storage_tube_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m02_21","position":[0.191314051476,-0.5490329078373932,0.71338606911949],"aabb_xy":[[0.18168241525557038,-0.5586702206171021],[0.20094568769642962,-0.5393955950576843]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_22","position":[-0.35468364122292384,-0.785266453210715,0.71338606911949],"aabb_xy":[[-0.3914782743478301,-0.8221723283072974],[-0.31788900809801757,-0.7483605781141328]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.30842366155873413,-1.2142405341189837,0.71338606911949],"aabb_xy":[[0.25079319267146316,-1.274240533045694],[0.3660541304460049,-1.1542405351922729]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_24","position":[0.4113004449086701,-0.7441842504492933,0.71338606911949],"aabb_xy":[[0.39218813755069126,-0.7633190293265353],[0.430412752266649,-0.7250494715720512]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_25","position":[-0.23613718110927495,1.454741129822961,0.71338606911949],"aabb_xy":[[-0.25860195108068007,1.4322411289441006],[-0.21367241113786983,1.4772411307018216]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_26","position":[-0.568397593842018,1.6356639558512005,0.71338606911949],"aabb_xy":[[-0.5970469262024343,1.6070183965741245],[-0.5397482614816018,1.664309515128276]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_27","position":[-0.372896202299596,1.0085726578389709,0.71338606911949],"aabb_xy":[[-0.406375369560637,0.9750935444678639],[-0.33941703503855514,1.0420517712100779]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_28","position":[-0.39318818517493,0.8771394005003219,0.71338606911949],"aabb_xy":[[-0.4275044623495479,0.8271394005271441],[-0.35887190800031205,0.9271394004734995]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_29","position":[0.4054410089138145,-1.048525149660685,0.71338606911949],"aabb_xy":[[0.35544599795436255,-1.098525148696277],[0.45543601987326665,-0.9985251506250936]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_30","position":[0.4515899185840251,-1.3921411561066874,0.71338606911949],"aabb_xy":[[0.43896313129682873,-1.40168722980826],[0.46421670587122144,-1.3825950824051143]]},{"name":"wc_weighing_bottle_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m02_31","position":[0.1523607649933485,-0.6778410360264073,0.71338606911949],"aabb_xy":[[0.13415494133210085,-0.688866436608399],[0.1705665886545962,-0.6668156354444157]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_32","position":[0.12803296129561303,-1.3191812129222387,0.71338606911949],"aabb_xy":[[0.12099265136207604,-1.39918121232191],[0.13507327122915003,-1.2391812135225673]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_33","position":[0.13792467541470088,1.4700572504664415,0.71338606911949],"aabb_xy":[[0.09515796853528069,1.4060572470446389],[0.18069138229412107,1.5340572538882438]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7014593227950783,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8074.png","name":"8074"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1433.png","name":"1433"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8866.png","name":"8866"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1218.png","name":"1218"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6903.png","name":"6903"}]},"visual":{"folder_name":"vis_dim_neutral","config_idx":1,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":533.2972010520538,"rotation_z_degrees":223.4720914859167,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.01985445272704482,0.01234143440902501,-0.016771116497291443]},{"name":"camera_2","offset_m":[-0.010916669358462725,0.006585141082718248,0.0013238981923985003]},{"name":"camera_3","offset_m":[-0.005841401000426032,-0.005610439741988186,-0.00035154003138165163]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00010389440401402123,-0.0001448200259622414,-0.0011077651404744686],"end_effector_yaw_offset_degrees":-0.563166995968603},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[7.339433047032261e-05,0.0004986258342262405,0.00034489439767842155],"end_effector_yaw_offset_degrees":0.4222026693991199},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0011077752485793022,-0.00030661747771956716,0.00092527275769502],"end_effector_yaw_offset_degrees":0.44174821593579683},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0007207344408056194,-0.0007505876310443958,0.0018193575233200416],"end_effector_yaw_offset_degrees":-0.27894135742040005},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017308645072793643,-0.00037943856269556653,-0.0012404739960126898],"end_effector_yaw_offset_degrees":0.675383225332465},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0008925607083983796,0.00124839267694697,-0.001975380773633733],"end_effector_yaw_offset_degrees":-0.30819374151868595}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004948352175915906,-0.0041572883415510195],"position_m":[0.3249483521759159,0.348942711658449,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0007263357163765768,-0.0015015325990357974],"position_m":[0.18072633571637656,-0.0351015325990358,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.003736354772270992,0.001954887478235027],"position_m":[0.275736354772271,-0.365345112521765,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004463552757620126,-0.001970187984284818],"position_m":[0.3340364472423799,0.10652981201571518,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"1f85cc5711f4070d7dbfae0bd15e2c550d7a534ea1774caad8050ecfb15b2850","episode_index":84,"episode_name":"episode_0084"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0084.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_001_dim_neutral/scene_lab_003/tex_background_textures_8074/tex_ceiling_textures_6903/tex_floor_textures_1218/tex_table_textures_1433/tex_wall_textures_8866","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":1872776997675302322,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":1872776997675302322,"visual_seed":1872776997675302322,"scene_id":"lab_003","finished_at":"2026-09-06T20:10:50"} +{"episode_id":"ep_000084","started_at":"2026-09-06T20:10:57","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_plastic_petri_dish_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m02_0","position":[0.6033503200851229,-1.260115536561904,0.71338606911949],"aabb_xy":[[0.5533503190659878,-1.296581752299732],[0.6533503211042583,-1.2236493208240762]]},{"name":"st_hose_barb_y_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m02_1","position":[-0.5407315832271959,-0.6266884060657405,0.71338606911949],"aabb_xy":[[-0.5690612931757362,-0.6311491482594576],[-0.5124018732786557,-0.6222276638720234]]},{"name":"lh_pcr_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g03_m02_2","position":[0.033044854905982635,1.5642403395315783,0.71338606911949],"aabb_xy":[[-0.012126462942186337,1.5002403423870403],[0.07821617275415162,1.6282403366761171]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[-0.30988298991254953,1.1002512700288025,0.71338606911949],"aabb_xy":[[-0.31332366615260676,1.0963898370544383],[-0.3064423136724924,1.1041127030031672]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_4","position":[0.5278165945577133,-2.505977838232248,0.71338606911949],"aabb_xy":[[0.44781659715411987,-2.585970409430431],[0.6078165919613067,-2.4259852670340654]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_5","position":[0.4931590525303984,-1.9191440127955328,0.71338606911949],"aabb_xy":[[0.4131590538735124,-1.933648871719796],[0.5731590511872844,-1.9046391538712701]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_6","position":[0.6983598573748291,-0.2580657410733087,0.71338606911949],"aabb_xy":[[0.6750780151766977,-0.3430657423705368],[0.7216416995729604,-0.17306573977608067]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_7","position":[-0.015421252902029003,1.768936415154657,0.71338606911949],"aabb_xy":[[-0.030593422183662348,1.7537675582264538],[-0.00024908362039566603,1.7841052720828605]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_8","position":[0.2974927418875508,-2.412337462596682,0.71338606911949],"aabb_xy":[[0.247499629778359,-2.4623374632708774],[0.34748585399674276,-2.362337461922486]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[-0.057443248602649044,0.696617032727036,0.71338606911949],"aabb_xy":[[-0.07435398103899081,0.6831448271344214],[-0.04053251616630726,0.7100892383196504]]},{"name":"lh_scintillation_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m01_10","position":[0.01690192407660307,-2.1198682179860056,0.71338606911949],"aabb_xy":[[-0.002210383281375794,-2.1390029968632476],[0.036014231434581934,-2.1007334391087635]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_11","position":[-0.4635913662502954,-1.2084658428694073,0.71338606911949],"aabb_xy":[[-0.4848693743937676,-1.2734658451954803],[-0.4423133581068231,-1.1434658405433342]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_12","position":[-0.4428886996838186,0.6714275082919046,0.71338606911949],"aabb_xy":[[-0.5044794589078114,0.6074275101828577],[-0.38129794045982585,0.7354275064009514]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_13","position":[-0.3986611065610537,-0.8051294074688775,0.71338606911949],"aabb_xy":[[-0.4211602422872806,-0.8276294082471405],[-0.37616197083482666,-0.7826294066906145]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_14","position":[0.4796031050271543,0.6074629749624103,0.71338606911949],"aabb_xy":[[0.4625930077371036,0.5913284864641363],[0.4966132023172049,0.6235974634606841]]},{"name":"st_luer_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m01_15","position":[-0.643214879540249,-1.7245922685794493,0.71338606911949],"aabb_xy":[[-0.6682148790919875,-1.734734752444584],[-0.6182148799885105,-1.7144497847143145]]},{"name":"st_tubing_clamp_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m01_16","position":[-0.31434491314853563,-2.220019465134531,0.71338606911949],"aabb_xy":[[-0.3318916080646545,-2.257519466698782],[-0.29679821823241664,-2.18251946357028]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_17","position":[-0.09098239102464689,-2.308264630334658,0.71338606911949],"aabb_xy":[[-0.10039986559450964,-2.3176808074723767],[-0.08156491645478414,-2.2988484531969386]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_18","position":[0.2590016718873239,-0.5667663892460006,0.71338606911949],"aabb_xy":[[0.19500167477521818,-0.6157987590404114],[0.32300166899942956,-0.5177340194515901]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_19","position":[-0.20180732529362067,1.238370775421871,0.71338606911949],"aabb_xy":[[-0.26680732793141415,1.186891176722424],[-0.13680732265582718,1.2898503741213179]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_20","position":[0.01018533195444471,-0.8517925008908362,0.71338606911949],"aabb_xy":[[-0.07981466776872946,-0.874865853426016],[0.10018533167761888,-0.8287191483556563]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_21","position":[-0.5928019964022946,1.0962149529355245,0.71338606911949],"aabb_xy":[[-0.6153019969143351,1.0737230945701262],[-0.5703019958902539,1.1187068113009229]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_22","position":[0.20745127344547543,-0.7570838631312251,0.71338606911949],"aabb_xy":[[0.1699512719298437,-0.7683106361473702],[0.2449512749611071,-0.7458570901150801]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_23","position":[0.49493990483149375,0.14955553894809404,0.71338606911949],"aabb_xy":[[0.48998388464661263,0.12705553874597245],[0.499895925016375,0.17205553915021568]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6941440998308781,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2644.png","name":"2644"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2644.png","name":"2644"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2371.png","name":"2371"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7171.png","name":"7171"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6755.png","name":"6755"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5254.png","name":"5254"}]},"visual":{"folder_name":"vis_bright_neutral","config_idx":9,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"neutral","rgb":[1.0,0.95,0.9]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":834.4031318494547,"rotation_z_degrees":128.90706950852663,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.005872595073588248,-0.0003983190480952581,0.009132180712256056]},{"name":"camera_2","offset_m":[0.019385342515339545,0.006534417697059897,-0.0092339297332355]},{"name":"camera_3","offset_m":[-0.01997984570415054,-0.0010271862799702894,-0.0069870194105473935]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0004755598065793545,-0.001418450935904383,0.0016311688801618003],"end_effector_yaw_offset_degrees":-0.37152160406510615},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0014513489679524691,-0.001973138328689294,-0.0001207436751663887],"end_effector_yaw_offset_degrees":-0.5378904520776719},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0016525456083353368,-0.001506280476995556,0.00019305133383732765],"end_effector_yaw_offset_degrees":-0.6273848028645539},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003588434221974959,-0.001312074493932252,-0.00012360756585379153],"end_effector_yaw_offset_degrees":-0.09858067772920198},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00026832284815265606,0.0002377296595340089,-0.0005723349271481314],"end_effector_yaw_offset_degrees":-0.2988398573485789},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.00029494227212348333,0.0014745818783776748,-0.00045356556141526124],"end_effector_yaw_offset_degrees":-0.8313616848132013}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004084222416782013,0.003981090106702802],"position_m":[0.315915777583218,0.3570810901067028,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0017350278905400541,0.0002555510089487312],"position_m":[0.17826497210945993,-0.03334444899105127,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004698351463824055,0.0021997691134782536],"position_m":[0.26730164853617594,-0.36510023088652177,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0007182266526153634,-0.004567728685964866],"position_m":[0.3377817733473847,0.10393227131403514,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"e7d75960ae9bfd81cbddac95dca13bdba1d1cf0002a0cf95a89b4bd4e576f7de","episode_index":85,"episode_name":"episode_0085"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0085.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_009_bright_neutral/scene_lab_003/tex_background_textures_2644/tex_ceiling_textures_5254/tex_floor_textures_6755/tex_table_textures_2371/tex_wall_textures_7171","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":6813410377105939338,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":6813410377105939338,"visual_seed":6813410377105939338,"scene_id":"lab_003","finished_at":"2026-09-06T20:17:34"} +{"episode_id":"ep_000085","started_at":"2026-09-06T20:17:43","dimensions":{"distractor":{"count":24,"items":[{"name":"lh_pipette_tip_rack_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g02_m01_0","position":[-0.6221484686486323,-0.13621448979195172,0.71338606911949],"aabb_xy":[[-0.6699546362624009,-0.20121449249901063],[-0.5743423010348636,-0.07121448708489274]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_1","position":[0.34953510072216454,-0.768185613454345,0.71338606911949],"aabb_xy":[[0.3414987660208797,-0.7762237327587616],[0.3575714354234494,-0.760147494149928]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_2","position":[0.16502724430559368,0.7213964510281188,0.71338606911949],"aabb_xy":[[0.11789786530375795,0.6573964499837167],[0.2121566233074293,0.7853964520725206]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_3","position":[0.31360711406419073,-0.6373404227492376,0.71338606911949],"aabb_xy":[[0.2801279468031498,-0.6708195361203447],[0.34708628132523167,-0.6038613093781308]]},{"name":"lh_cryovial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m01_4","position":[-0.3782871376017095,1.5851986918144747,0.71338606911949],"aabb_xy":[[-0.3847887741097142,1.5754308697881652],[-0.3717855010937049,1.5949665138407847]]},{"name":"lh_pcr_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m02_5","position":[-0.12335797628409528,0.1214273405594577,0.71338606911949],"aabb_xy":[[-0.1734554402651689,0.05742734004964589],[-0.07326051230302168,0.1854273410692695]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_6","position":[-0.3021085491109116,0.41590974853998075,0.71338606911949],"aabb_xy":[[-0.3246085496229522,0.3934178901745824],[-0.279608548598871,0.4384016069053791]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_7","position":[-0.5830690995992877,0.725752645532387,0.71338606911949],"aabb_xy":[[-0.653069102235874,0.7056477805365214],[-0.5130690969627013,0.7458575105282524]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_8","position":[0.5469021714554421,1.0414001686094725,0.71338606911949],"aabb_xy":[[0.5244021712119268,1.0291955339497008],[0.5694021716989576,1.0536048032692447]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_9","position":[0.003569070684797171,0.9012482622096023,0.71338606911949],"aabb_xy":[[-0.007999910062139404,0.8762482620926706],[0.015138051431733746,0.926248262326534]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_10","position":[0.4507796769295449,-0.5708140673408346,0.71338606911949],"aabb_xy":[[0.390779676421692,-0.6276608010267558],[0.5107796774373978,-0.5139673336549132]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_11","position":[0.4245047714210708,0.7733158028298619,0.71338606911949],"aabb_xy":[[0.37450549625263463,0.7233158015539148],[0.47450404658950696,0.8233158041058092]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_12","position":[-0.475989202764243,-1.134509779901452,0.71338606911949],"aabb_xy":[[-0.4868408090131186,-1.145369070629103],[-0.4651375965153674,-1.123650489173801]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_13","position":[0.21466644626057696,-1.6026050499274034,0.71338606911949],"aabb_xy":[[0.16466644668424227,-1.652585628879509],[0.2646664458369117,-1.5526244709752972]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_14","position":[0.4355338727814022,1.237854946641141,0.71338606911949],"aabb_xy":[[0.41810315770239564,1.2205828319772898],[0.45296458786040866,1.2551270613049914]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_15","position":[0.603615617630884,0.4054053808448024,0.71338606911949],"aabb_xy":[[0.5938596281217101,0.3956428467855679],[0.6133716071400579,0.41516791490403676]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_16","position":[-0.5582999690363605,-2.2800278107848166,0.71338606911949],"aabb_xy":[[-0.6382999723003736,-2.29358784309373],[-0.47829996577234735,-2.2664677784759033]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_17","position":[0.10210065652892608,1.0709098906758179,0.71338606911949],"aabb_xy":[[0.05212736252566563,1.0209098901212703],[0.15207395053218653,1.120909891230365]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_18","position":[-0.5235609174225107,0.2098734762709964,0.71338606911949],"aabb_xy":[[-0.5364328209234508,0.12987347585716028],[-0.5106890139215705,0.28987347668483254]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_19","position":[-0.5790902276601672,-1.6875695239874617,0.71338606911949],"aabb_xy":[[-0.6155860482874459,-1.7240534664142193],[-0.5425944070328884,-1.6510855815607042]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_20","position":[0.3242794261294404,-1.9089251928373,0.71338606911949],"aabb_xy":[[0.2442794289698651,-1.9204727937951167],[0.40427942328901567,-1.8973775918794826]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_21","position":[0.7082909686432046,1.5681726105805915,0.71338606911949],"aabb_xy":[[0.703655853490971,1.5643052755034423],[0.7129260837954378,1.5720399456577399]]},{"name":"lh_bulk_pipette_tip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g03_m02_22","position":[-0.09484330396645957,-0.3991833682604726,0.71338606911949],"aabb_xy":[[-0.10125711760964448,-0.4055931885081409],[-0.0884294903232746,-0.39277354801280423]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_23","position":[0.575297546749082,-2.428175598590244,0.71338606911949],"aabb_xy":[[0.50529755033912,-2.448613534241925],[0.6452975431590436,-2.4077376629385614]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6994438161022855,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1679.png","name":"1679"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7167.png","name":"7167"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3816.png","name":"3816"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7733.png","name":"7733"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6786.png","name":"6786"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":554.4474630955157,"rotation_z_degrees":115.07978373896424,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.01981974294117602,0.01968212587700589,0.010337518765046419]},{"name":"camera_2","offset_m":[-0.00816157955066184,-0.009092751692391312,-0.014856073246876513]},{"name":"camera_3","offset_m":[-0.008061717491349768,-0.005100217652397942,0.010710205493022772]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.00019198182948188675,-0.001498364121645297,0.0018178326062884918],"end_effector_yaw_offset_degrees":0.7213077815203275},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0010423020819208578,0.0018375210404915224,0.001826348459093274],"end_effector_yaw_offset_degrees":-0.152144343477278},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0012086312216220744,0.0014816170674735048,0.0010913798857302807],"end_effector_yaw_offset_degrees":-0.07870484310959092},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0014437350738520506,0.0008630875568601403,-0.0009099581586014568],"end_effector_yaw_offset_degrees":0.7594941471692591},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.000340574310600295,0.0014181491707807932,3.301295787662157e-05],"end_effector_yaw_offset_degrees":0.6201738091325577},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012149088071867014,-0.0010004656466162838,-0.0011542571043604197],"end_effector_yaw_offset_degrees":0.3865815554360341}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015515231838917265,0.002027871940947306],"position_m":[0.32155152318389174,0.3551278719409473,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004511942092421938,0.0016159484579723656],"position_m":[0.17548805790757804,-0.03198405154202763,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0028427880205354654,0.00436350723865674],"position_m":[0.27484278802053547,-0.36293649276134327,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.002340028802383376,0.0047011807664775725],"position_m":[0.3408400288023834,0.11320118076647757,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"13dad8b895d2a24583873d50d74b3403b134554f7a0410909c0ba2965243756f","episode_index":86,"episode_name":"episode_0086"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0086.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1679/tex_ceiling_textures_6786/tex_floor_textures_7733/tex_table_textures_7167/tex_wall_textures_3816","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":3938263156864451265,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":3938263156864451265,"visual_seed":3938263156864451265,"scene_id":"lab_003","finished_at":"2026-09-06T20:24:53"} +{"episode_id":"ep_000086","started_at":"2026-09-06T20:25:00","dimensions":{"distractor":{"count":27,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[0.605478259606127,-1.2293678568360098,0.71338606911949],"aabb_xy":[[0.5554834266781854,-1.2793678557312533],[0.6554730925340686,-1.1793678579407663]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_1","position":[-0.6276476095218924,0.9487477019062993,0.71338606911949],"aabb_xy":[[-0.6916476098994261,0.899002435055487],[-0.5636476091443589,0.9984929687571116]]},{"name":"st_curved_forceps_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g03_m02_2","position":[-0.5651562580950404,-0.43735535126306413,0.71338606911949],"aabb_xy":[[-0.6451562552546156,-0.4489029522208811],[-0.48515626093546504,-0.42580775030524703]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_3","position":[-0.24023254417045065,-1.2110580891420841,0.71338606911949],"aabb_xy":[[-0.30423254738908845,-1.2577812010410925],[-0.17623254095181276,-1.1643349772430758]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_4","position":[-0.11228764217014142,0.11372424704879336,0.71338606911949],"aabb_xy":[[-0.13728764133577454,0.10677200134343678],[-0.08728764300450831,0.12067649275414993]]},{"name":"wc_crystallizing_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m02_5","position":[0.16486814999141863,-2.13051743574322,0.71338606911949],"aabb_xy":[[0.08486815140409919,-2.209833037681381],[0.24486814857873804,-2.051201833805059]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.1712044534366408,1.704182305720265,0.71338606911949],"aabb_xy":[[-0.18553887856280424,1.692122090165726],[-0.15687002831047733,1.7162425212748036]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_7","position":[0.40644538545581854,-1.5562215271346231,0.71338606911949],"aabb_xy":[[0.3689453852839466,-1.58892226251753],[0.4439453856276905,-1.5235207917517157]]},{"name":"st_rubber_stopper_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m01_8","position":[-0.1528245450029767,-2.18739022288387,0.71338606911949],"aabb_xy":[[-0.17532454551501728,-2.209882081249268],[-0.13032454449093608,-2.1648983645184714]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_9","position":[-0.05889803949805239,-2.0445055830405394,0.71338606911949],"aabb_xy":[[-0.10417665437920165,-2.108505582388723],[-0.013619424616903124,-1.9805055836923557]]},{"name":"lh_specimen_cup_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m02_10","position":[0.4561252628474677,1.4418354983884831,0.71338606911949],"aabb_xy":[[0.41112526138123895,1.3968356415270025],[0.5011252643136966,1.4868353552499638]]},{"name":"wc_crystallizing_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m02_11","position":[0.5051307938789948,-2.299462449591906,0.71338606911949],"aabb_xy":[[0.4251307969159557,-2.376538091235679],[0.585130790842034,-2.222386807948132]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_12","position":[-0.24119839434294915,-0.8879883578060974,0.71338606911949],"aabb_xy":[[-0.250954383852123,-0.8977508918653319],[-0.23144240483377523,-0.878225823746863]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_13","position":[0.01571254527793764,-1.8651857600248678,0.71338606911949],"aabb_xy":[[-0.04191792360933321,-1.9251857589515777],[0.07334301416520848,-1.8051857610981565]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_14","position":[0.6236430429745115,-0.9020322955951705,0.71338606911949],"aabb_xy":[[0.5886430430784926,-0.9104065311071106],[0.6586430428705303,-0.8936580600832307]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_15","position":[0.4293781661401672,-1.4039720262812698,0.71338606911949],"aabb_xy":[[0.38807362307643123,-1.4679720258493867],[0.4706827092039032,-1.3399720267131525]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_16","position":[-0.24300528755996237,-2.3152068649313122,0.71338606911949],"aabb_xy":[[-0.29300528713629714,-2.365187443883418],[-0.1930052879836277,-2.2652262859792063]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_17","position":[-0.3903303579609141,-1.4240641442653879,0.71338606911949],"aabb_xy":[[-0.44030916647123,-1.4740641442711069],[-0.3403515494505982,-1.3740641442596693]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_18","position":[0.5897449664734851,-0.022958262803038032,0.71338606911949],"aabb_xy":[[0.509744966199878,-0.09590781062875474],[0.6697449667470919,0.049991285022678675]]},{"name":"lh_deep_well_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m01_19","position":[-0.45333251163925903,-1.9234995046648937,0.71338606911949],"aabb_xy":[[-0.517332514928967,-1.9668344236688111],[-0.38933250834955085,-1.8801645856609759]]},{"name":"lh_multichannel_trough_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m01_20","position":[0.10390661625996556,-1.0942972262481188,0.71338606911949],"aabb_xy":[[0.03390661985000374,-1.1147351618998],[0.1739066126699273,-1.0738592905964366]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_21","position":[-0.08302248958284897,0.7001146377599654,0.71338606911949],"aabb_xy":[[-0.10548725955425407,0.6776146368811048],[-0.060557719611443836,0.7226146386388258]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_22","position":[-0.6091232774811901,1.6767393355271074,0.71338606911949],"aabb_xy":[[-0.664115528116701,1.621739333783795],[-0.5541310268456792,1.7317393372704206]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_23","position":[0.6430629596884891,-2.544663487537328,0.71338606911949],"aabb_xy":[[0.6205629594449739,-2.5568681221971],[0.6655629599320046,-2.5324588528775562]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_24","position":[-0.20311110032609242,0.8715831981465554,0.71338606911949],"aabb_xy":[[-0.28311110359010555,0.8580231658376422],[-0.12311109706207929,0.8851432304554688]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_25","position":[-0.3223778900700141,1.528178718049729,0.71338606911949],"aabb_xy":[[-0.37185831128397295,1.4641787201368772],[-0.27289746885605537,1.5921787159625809]]},{"name":"lh_multichannel_trough_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m02_26","position":[-0.6175783837618829,-0.7893166604118564,0.71338606911949],"aabb_xy":[[-0.64009207558534,-0.859316661012864],[-0.5950646919384256,-0.7193166598108489]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7000746940426269,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2836.png","name":"2836"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2836.png","name":"2836"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4130.png","name":"4130"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8821.png","name":"8821"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4196.png","name":"4196"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8958.png","name":"8958"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":675.2326410174335,"rotation_z_degrees":127.65361029925852,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.019720205772782298,0.0182383770734986,0.016463033210081298]},{"name":"camera_2","offset_m":[0.01972752100466067,0.008190843577040034,0.015485422130057509]},{"name":"camera_3","offset_m":[0.007632715248642924,-0.0022288727590584582,0.015831513635273808]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0014999126239775202,0.001937742137855655,-0.0002917503817686318],"end_effector_yaw_offset_degrees":0.6952959730041264},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0012827944113171373,0.00031256546416591046,0.0017962047733757788],"end_effector_yaw_offset_degrees":0.10782611204147252},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00021188810569645737,0.001631884337616856,0.0018789414926990468],"end_effector_yaw_offset_degrees":-0.8766177413698668},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0010970751119205474,0.0011845859802709323,0.0015425414635078113],"end_effector_yaw_offset_degrees":-0.6963388749382278},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00024693122616031263,-6.244153485219866e-05,0.0011194663065486762],"end_effector_yaw_offset_degrees":-0.9209752254622596},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0004258651640022841,0.0008843920285864426,0.001979542218790993],"end_effector_yaw_offset_degrees":0.2997227871641943}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0022890078353145675,-0.0006976598483941767],"position_m":[0.32228900783531456,0.3524023401516059,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00267901485188733,0.000301041759884952],"position_m":[0.1826790148518873,-0.03329895824011504,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0004062377495622103,-0.0021325345435668688],"position_m":[0.2715937622504378,-0.3694325345435669,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004101277267378967,-0.002952828820081341],"position_m":[0.33439872273262106,0.10554717117991866,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"5515f1c6ba37bbc8a176dfb763581f8743aa4ecd7ca81ecfc8b91a47e06a138c","episode_index":87,"episode_name":"episode_0087"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0087.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_2836/tex_ceiling_textures_8958/tex_floor_textures_4196/tex_table_textures_4130/tex_wall_textures_8821","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7975952026257501366,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7975952026257501366,"visual_seed":7975952026257501366,"scene_id":"lab_003","finished_at":"2026-09-06T20:31:51"} +{"episode_id":"ep_000087","started_at":"2026-09-06T20:31:57","dimensions":{"distractor":{"count":25,"items":[{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_0","position":[-0.4651064511484785,0.25242780265272646,0.71338606911949],"aabb_xy":[[-0.47825769711976784,0.22742780289603998],[-0.4519552051771891,0.27742780240941306]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_1","position":[-0.32299367109846944,-2.2772778875025623,0.71338606911949],"aabb_xy":[[-0.40298749467702766,-2.357277890095404],[-0.24299984751991122,-2.1972778849097208]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_2","position":[-0.6371237708735819,-2.2327958355387643,0.71338606911949],"aabb_xy":[[-0.64474803896376,-2.240429059075308],[-0.6294995027834035,-2.2251626120022205]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_3","position":[-0.0591399629097088,-1.44112742895037,0.71338606911949],"aabb_xy":[[-0.07237090844439009,-1.4543548479723691],[-0.0459090173750275,-1.4279000099283703]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_4","position":[-0.6021512210742441,0.43080719752250163,0.71338606911949],"aabb_xy":[[-0.6377803769742038,0.3951745307656487],[-0.5665220651742843,0.4664398642793546]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_5","position":[-0.06394469003788128,-1.9386192028328377,0.71338606911949],"aabb_xy":[[-0.10097879946594099,-1.972996410166547],[-0.026910580609821565,-1.904241995499128]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_6","position":[-0.1404193749740308,-0.5769682916945222,0.71338606911949],"aabb_xy":[[-0.18650446622876227,-0.6409682889470774],[-0.09433428371929932,-0.5129682944419671]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_7","position":[0.45571660745155884,-2.40097793067337,0.71338606911949],"aabb_xy":[[0.3917166055392165,-2.4568890799313805],[0.5197166093639012,-2.3450667814153596]]},{"name":"st_hose_barb_y_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g01_m01_8","position":[0.6400580808436147,0.8268549206792546,0.71338606911949],"aabb_xy":[[0.6055956028305268,0.8201912434963318],[0.6745205588567024,0.8335185978621774]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_9","position":[-0.37175151926313416,0.9271372824893778,0.71338606911949],"aabb_xy":[[-0.3797450090584163,0.9191391505489025],[-0.3637580294678522,0.9351354144298537]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_10","position":[-0.023211942098702254,0.4351725393753796,0.71338606911949],"aabb_xy":[[-0.035838729385898604,0.4256264656738067],[-0.0105851548115059,0.4447186130769525]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_11","position":[0.4861075476187544,0.2261538614640335,0.71338606911949],"aabb_xy":[[0.4685292454298075,0.2085793718899286],[0.5036858498077013,0.2437283510381384]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[-0.47478725644930064,1.744756711842816,0.71338606911949],"aabb_xy":[[-0.5026322932299078,1.7139722131045043],[-0.4469422196686935,1.7755412105811277]]},{"name":"st_hose_barb_t_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m02_13","position":[-0.3447096536934888,-0.05142196717999514,0.71338606911949],"aabb_xy":[[-0.37970965504497056,-0.07178170313681598],[-0.3097096523420071,-0.03106223122317431]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_14","position":[-0.5444649559054936,-0.05840270870798614,0.71338606911949],"aabb_xy":[[-0.5663547034944343,-0.14840270599723523],[-0.5225752083165527,0.03159728858126297]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_15","position":[0.08822945290846118,-0.9520419157191611,0.71338606911949],"aabb_xy":[[0.0653137400234113,-0.9749462128555847],[0.11114516579351111,-0.9291376185827377]]},{"name":"st_test_tube_holder_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g01_m01_16","position":[0.4774696446749829,-1.8656899854426374,0.71338606911949],"aabb_xy":[[0.3877825683668674,-1.955689985697088],[0.5671567209830983,-1.7756899851881869]]},{"name":"wc_evaporating_dish_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m01_17","position":[-0.3290236657351731,-0.683864009893344,0.71338606911949],"aabb_xy":[[-0.3841488713647639,-0.743864011334631],[-0.27389846010558233,-0.6238640084520567]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_18","position":[0.28434020979985364,-0.49710921475666536,0.71338606911949],"aabb_xy":[[0.2669094947208471,-0.5143813294205161],[0.3017709248788601,-0.4798371000928145]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_19","position":[0.011669589385658652,-2.326693441867099,0.71338606911949],"aabb_xy":[[-0.06833041168746168,-2.3364714882044835],[0.09166959045877898,-2.3169153955297146]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_20","position":[-0.5679009465851508,1.2190264651096299,0.71338606911949],"aabb_xy":[[-0.6091497576150655,1.1640264655974122],[-0.526652135555236,1.274026464621847]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_21","position":[0.06679180410933783,-1.0592009101036328,0.71338606911949],"aabb_xy":[[0.05485906974750976,-1.0715830629114922],[0.0787245384711659,-1.0468187572957734]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_22","position":[-0.42987533474156187,-1.441284655356389,0.71338606911949],"aabb_xy":[[-0.4354570063756907,-1.4537846551741644],[-0.42429366310743316,-1.4287846555386134]]},{"name":"wc_weighing_bottle_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m01_23","position":[-0.5436018541101593,-1.2775111345615888,0.71338606911949],"aabb_xy":[[-0.5688226909699988,-1.3027348854144754],[-0.5183810172503195,-1.2522873837087019]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_24","position":[-0.5118831994653884,-2.4829879733667326,0.71338606911949],"aabb_xy":[[-0.5718831999732412,-2.5398347070526532],[-0.4518831989575354,-2.426141239680811]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7034976982757736,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8132.png","name":"8132"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/367.png","name":"367"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4812.png","name":"4812"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9845.png","name":"9845"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2808.png","name":"2808"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":533.538921522345,"rotation_z_degrees":233.02469228938858,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010884891950260376,-0.0003257706197305095,-0.007399974363310831]},{"name":"camera_2","offset_m":[0.01368221160289523,0.011467692218629758,0.015162938792690022]},{"name":"camera_3","offset_m":[-0.015538064200192294,0.0015604309642721012,0.01536323680904077]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0019832064466919676,-0.0005631073880448376,0.0006152495548014973],"end_effector_yaw_offset_degrees":0.5259515322057884},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0010519423763049795,0.0019090840653819292,-0.0011055832057254382],"end_effector_yaw_offset_degrees":0.3366453050069538},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0017552306266294484,0.0015358415228271432,-0.0011010085219209853],"end_effector_yaw_offset_degrees":-0.4949910864858027},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0013252528395513142,-0.001739615435157826,-0.0017830760281308243],"end_effector_yaw_offset_degrees":0.3757458879016464},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00028346634623127283,0.0010460181947327968,-0.0008224889924567291],"end_effector_yaw_offset_degrees":0.7779717191102669},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0007278778559555847,-0.000703709472869174,-0.00040877388559793014],"end_effector_yaw_offset_degrees":0.039947035243037776}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0028164339003257845,-0.0017792185092001768],"position_m":[0.31718356609967424,0.35132078149079987,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0046131934523144826,0.0010478447154060053],"position_m":[0.17538680654768551,-0.032552155284593993,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0029890157213101507,-0.003152773395371826],"position_m":[0.2749890157213102,-0.37045277339537186,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0026105576613043116,0.003614068321124116],"position_m":[0.3358894423386957,0.11211406832112411,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"a02199bdbbb26bcac982cb0a92fedf68c7bd341f9c372535ca107dd047395186","episode_index":88,"episode_name":"episode_0088"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0088.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8132/tex_ceiling_textures_2808/tex_floor_textures_9845/tex_table_textures_367/tex_wall_textures_4812","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8559251103857396216,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8559251103857396216,"visual_seed":8559251103857396216,"scene_id":"lab_003","finished_at":"2026-09-06T20:38:59"} +{"episode_id":"ep_000088","started_at":"2026-09-06T20:39:05","dimensions":{"distractor":{"count":22,"items":[{"name":"lh_deep_well_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g01_m02_0","position":[0.6592723779878116,-1.8730039778662024,0.71338606911949],"aabb_xy":[[0.5952723763098142,-1.9215213693455164],[0.7232723796658089,-1.824486586386888]]},{"name":"lh_plastic_screw_vial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m01_1","position":[0.054887385692945156,-0.825265269429708,0.71338606911949],"aabb_xy":[[0.026238053332528925,-0.8539108287067836],[0.08353671805336138,-0.796619710152632]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_2","position":[-0.24465648496651216,-0.9019596994234373,0.71338606911949],"aabb_xy":[[-0.2996564841431016,-0.9569493741983949],[-0.1896564857899226,-0.8469700246484796]]},{"name":"wc_glass_petri_dish_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m02_3","position":[0.10334436790314971,1.0332636630088174,0.71338606911949],"aabb_xy":[[0.04837064586681683,0.9782636634445845],[0.1583180899394826,1.0882636625730508]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_4","position":[-0.4493985735764173,0.9460950744359917,0.71338606911949],"aabb_xy":[[-0.5093985734229841,0.889276452242953],[-0.38939857372985054,1.0029136966290304]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_5","position":[-0.6104183333129416,-1.969865609966496,0.71338606911949],"aabb_xy":[[-0.627849048391948,-1.9871377246303465],[-0.592987618233935,-1.952593495302645]]},{"name":"st_test_tube_holder_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m01_6","position":[-0.38552644411253134,-2.0284054382747847,0.71338606911949],"aabb_xy":[[-0.4093626617531365,-2.1184054390832716],[-0.36169022647192633,-1.9384054374662987]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[-0.03649638212676909,-1.398093467695634,0.71338606911949],"aabb_xy":[[-0.07149638210326492,-1.4075580837432509],[-0.0014963821502732566,-1.3886288516480176]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_8","position":[0.5135724506942825,-1.9214413554838865,0.71338606911949],"aabb_xy":[[0.47502675786908144,-1.9599871265400752],[0.5521181435194835,-1.8828955844276978]]},{"name":"lh_cell_culture_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m01_9","position":[0.49223145022913584,0.5286074805138976,0.71338606911949],"aabb_xy":[[0.4282314483167936,0.4726963312558873],[0.5562314521414783,0.5845186297719082]]},{"name":"lh_specimen_cup_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g01_m01_10","position":[-0.3650925500696877,-1.5945816408561133,0.71338606911949],"aabb_xy":[[-0.4100851367881381,-1.6395816401305618],[-0.3200999633512373,-1.5495816415816643]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_11","position":[-0.22885230566192333,0.7035254614256625,0.71338606911949],"aabb_xy":[[-0.29285230294757203,0.6620187424728186],[-0.1648523083762747,0.7450321803785065]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_12","position":[0.2036171107236029,1.4472737690279103,0.71338606911949],"aabb_xy":[[0.13961711034606925,1.397528502177098],[0.2676171111011365,1.4970190358787225]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_13","position":[-0.02415807159745642,-0.9787880431277902,0.71338606911949],"aabb_xy":[[-0.08915806947910422,-1.0299117068343313],[0.04084192628419137,-0.9276643794212495]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_14","position":[0.2732818622041364,0.5880994674505402,0.71338606911949],"aabb_xy":[[0.22330305369382053,0.5380994674448213],[0.3232606707144523,0.6380994674562589]]},{"name":"vis_liquid_conical_flask_03","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_03/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_03_15","position":[-0.47394295183412627,1.483821542807838,0.71338606911949],"aabb_xy":[[-0.5098564562591159,1.4479080345910833],[-0.4380294474091365,1.5197350510245924]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_16","position":[-0.33101722302651204,-1.152604871280489,0.71338606911949],"aabb_xy":[[-0.33827847059691946,-1.1653918815439985],[-0.3237559754561046,-1.1398178610169796]]},{"name":"lh_multichannel_trough_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g03_m01_17","position":[0.4811557878052892,1.4729278053269677,0.71338606911949],"aabb_xy":[[0.4111557862030098,1.4594950121253103],[0.5511557894075687,1.4863605985286255]]},{"name":"lh_reagent_reservoir_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m02_18","position":[0.30942600948930377,-1.7859685522256314,0.71338606911949],"aabb_xy":[[0.28584088602540886,-1.8509685544710632],[0.33301113295319856,-1.7209685499801997]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_19","position":[-0.4531109197453934,1.1486400490193458,0.71338606911949],"aabb_xy":[[-0.5147016789693862,1.0846400509102991],[-0.3915201605214006,1.212640047128393]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_20","position":[0.40223461798778337,1.0681253540190574,0.71338606911949],"aabb_xy":[[0.33823461869361515,1.0041392136502032],[0.4662346172819516,1.1321114943879116]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_21","position":[0.15694920674139856,-1.9596705423306227,0.71338606911949],"aabb_xy":[[0.10694920579086573,-1.9912196893341436],[0.20694920769193134,-1.9281213953271008]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6986118987893934,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/72.png","name":"72"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/72.png","name":"72"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3962.png","name":"3962"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1568.png","name":"1568"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9136.png","name":"9136"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1445.png","name":"1445"}]},"visual":{"folder_name":"vis_normal_cool","config_idx":7,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":822.4403018221087,"rotation_z_degrees":69.39729800604464,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.011055944845490297,0.006970802233892567,0.012330702664007685]},{"name":"camera_2","offset_m":[-0.009899057121519252,0.017690583814780166,0.001919916608845041]},{"name":"camera_3","offset_m":[0.009331134773760897,-0.0045185902685640576,0.002031169957491138]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0009561195757434747,-0.0014118834220328853,0.0018540993640077585],"end_effector_yaw_offset_degrees":-0.6782606054641083},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.000139833201273131,0.0010189859167698658,0.00025845445496206886],"end_effector_yaw_offset_degrees":-0.8394529209263297},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0005347764462233923,7.354552336939031e-05,0.0013581258075938659],"end_effector_yaw_offset_degrees":-0.72605532146727},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00014567493633937468,-0.0006570009748281419,0.0002605740936855753],"end_effector_yaw_offset_degrees":0.09821971214580572},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0012438759340277746,-0.0015789206328002297,-0.0006336072433446324],"end_effector_yaw_offset_degrees":0.7000787141944471},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0009238285369589936,0.0008179805533878879,-0.0013564300665283363],"end_effector_yaw_offset_degrees":0.04365910262325712}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-1.6434567435298468e-05,-0.004069677039916927],"position_m":[0.31998356543256473,0.3490303229600831,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005119377515789966,-0.003693261846976965],"position_m":[0.179488062248421,-0.03729326184697696,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0009831379080067013,-0.00028702146471428457],"position_m":[0.2710168620919933,-0.3675870214647143,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0004534495548744969,-0.001174220167109339],"position_m":[0.33804655044512555,0.10732577983289066,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"048ce120d8414ca8ac10d056af72ea2f3287f414cbf3aef7c4a0b8f322f16e44","episode_index":89,"episode_name":"episode_0089"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0089.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_007_normal_cool/scene_lab_003/tex_background_textures_72/tex_ceiling_textures_1445/tex_floor_textures_9136/tex_table_textures_3962/tex_wall_textures_1568","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":569927996559585617,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":569927996559585617,"visual_seed":569927996559585617,"scene_id":"lab_003","finished_at":"2026-09-06T20:46:17"} +{"episode_id":"ep_000089","started_at":"2026-09-06T20:46:24","dimensions":{"distractor":{"count":32,"items":[{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_0","position":[0.697453893870136,-2.3422813373686484,0.71338606911949],"aabb_xy":[[0.6928187787179025,-2.3461486724457967],[0.7020890090223693,-2.338414002291499]]},{"name":"st_hose_barb_y_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m01_1","position":[0.4128469231019891,0.696431789064718,0.71338606911949],"aabb_xy":[[0.3753469227537613,0.6846403934836343],[0.4503469234502168,0.7082231846458014]]},{"name":"lh_cell_culture_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m01_2","position":[0.6322521623620425,-1.6252908249458673,0.71338606911949],"aabb_xy":[[0.5682521603123105,-1.6653853080351753],[0.6962521644117745,-1.5851963418565593]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_3","position":[-0.2845146118335004,1.1190784567429692,0.71338606911949],"aabb_xy":[[-0.2925081016287825,1.1110803248024939],[-0.27652112203821844,1.127076588683445]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_4","position":[-0.5849601817023562,-1.3200531173283048,0.71338606911949],"aabb_xy":[[-0.6224601832179879,-1.3312798903444496],[-0.5474601801867245,-1.3088263443121595]]},{"name":"lh_plastic_screw_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m01_5","position":[-0.2404854634881532,1.4425541480695405,0.71338606911949],"aabb_xy":[[-0.2551288690421861,1.4278954284127563],[-0.22584205793412018,1.4572128677263247]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_6","position":[0.3986402713591948,0.8325177215285104,0.71338606911949],"aabb_xy":[[0.39330269569319015,0.8075177205993707],[0.4039778470251993,0.8575177224576502]]},{"name":"lh_multichannel_trough_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g01_m02_7","position":[-0.40967106818077254,-1.1169430570561478,0.71338606911949],"aabb_xy":[[-0.479671070312202,-1.1397050226818433],[-0.33967106604934294,-1.094181091430452]]},{"name":"lh_sample_storage_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m01_8","position":[-0.3448418074221264,1.33066167959478,0.71338606911949],"aabb_xy":[[-0.3556822856486413,1.3134753983041314],[-0.3340013291956115,1.3478479608854288]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_9","position":[-0.07549188658074635,-1.592866838383477,0.71338606911949],"aabb_xy":[[-0.08836379008168647,-1.6728668387973131],[-0.0626199830798062,-1.5128668379696408]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_10","position":[0.5825516938212809,0.7104491666104664,0.71338606911949],"aabb_xy":[[0.5325516943810852,0.66048124212615],[0.6325516932614764,0.7604170910947826]]},{"name":"lh_microplate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m01_11","position":[-0.40463072568523284,1.687522163366514,0.71338606911949],"aabb_xy":[[-0.468630724979401,1.6235360229976599],[-0.34063072639106456,1.7515083037353683]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_12","position":[-0.15739523817364087,1.147572178856898,0.71338606911949],"aabb_xy":[[-0.21502570706091165,1.087572179930187],[-0.09976476928636996,1.2075721777836081]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_13","position":[-0.2977037744826634,-2.3346312576319157,0.71338606911949],"aabb_xy":[[-0.37770377664542587,-2.4145864412580593],[-0.2177037723199009,-2.254676074005772]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_14","position":[0.6804020689557881,-0.7783933801023348,0.71338606911949],"aabb_xy":[[0.6429020686636132,-0.7824348555029386],[0.7179020692479628,-0.7743519047017313]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_15","position":[-0.19095513061244707,0.6163732538524291,0.71338606911949],"aabb_xy":[[-0.2084550640464304,0.5988732539321945],[-0.17345519717846367,0.6338732537726636]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_16","position":[0.394421823171891,1.429485928512079,0.71338606911949],"aabb_xy":[[0.30442182457742106,1.4132353421986579],[0.48442182176636095,1.4457365148255]]},{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_17","position":[0.67637031520481,-0.18860671951184127,0.71338606911949],"aabb_xy":[[0.6530884730066785,-0.27360672080906934],[0.6996521574029412,-0.10360671821461322]]},{"name":"lh_cell_culture_plate_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g02_m02_18","position":[-0.32421246089881023,-1.7623757437682432,0.71338606911949],"aabb_xy":[[-0.3882124600685802,-1.809142430887206],[-0.2602124617290403,-1.715609056649281]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_19","position":[-0.14252742891587344,-0.5412895791348689,0.71338606911949],"aabb_xy":[[-0.17682433993361404,-0.5755864653448101],[-0.10823051789813279,-0.5069926929249274]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_20","position":[0.6062562370782612,-0.0027807598349260942,0.71338606911949],"aabb_xy":[[0.5422562397759148,-0.04714718680278285],[0.6702562343806076,0.04158566713293066]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_21","position":[-0.24792477134873397,-1.9077811895563077,0.71338606911949],"aabb_xy":[[-0.27042119278259813,-1.930281189363055],[-0.2254283499148699,-1.88528118974956]]},{"name":"wc_crystallizing_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g03_m01_22","position":[0.24600306937448801,-0.672845002328587,0.71338606911949],"aabb_xy":[[0.16600924579592982,-0.7528450049214287],[0.32599689295304624,-0.5928449997357456]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_23","position":[-0.5371202060929763,-2.539157768831437,0.71338606911949],"aabb_xy":[[-0.6011202033786249,-2.580664487784281],[-0.47312020880732764,-2.497651049878593]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_24","position":[0.4100737448504066,1.1553854678447641,0.71338606911949],"aabb_xy":[[0.3687692017866706,1.091385468276647],[0.4513782879141426,1.2193854674128812]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_25","position":[0.24321433491302658,-1.5110086259285083,0.71338606911949],"aabb_xy":[[0.22976780827898324,-1.5244784775815994],[0.2566608615470699,-1.4975387742754172]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_26","position":[-0.10636302519907714,0.8738971072704578,0.71338606911949],"aabb_xy":[[-0.14386302537094908,0.8411963718875504],[-0.06886302502720519,0.9065978426533647]]},{"name":"vis_liquid_beaker_small","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_small/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_small_27","position":[-0.14033725096379734,1.4975162862116584,0.71338606911949],"aabb_xy":[[-0.17279895184572475,1.4673834540967556],[-0.10787555008186984,1.5276491183265608]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_28","position":[-0.0890738650102233,-0.40421291200036924,0.71338606911949],"aabb_xy":[[-0.10665216719917014,-0.42178740157447414],[-0.07149556282127645,-0.38663842242626434]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_29","position":[0.10131021911973315,0.8876493168229866,0.71338606911949],"aabb_xy":[[0.06451558599482687,0.8507434417264043],[0.13810485224463942,0.9245551919195688]]},{"name":"st_magnetic_stir_bar_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g04_m02_30","position":[-0.06489303146956305,-2.2555839304404808,0.71338606911949],"aabb_xy":[[-0.08739303171307844,-2.2677885651002527],[-0.04239303122604765,-2.243379295780709]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_31","position":[0.2724542969792809,1.0538558584743463,0.71338606911949],"aabb_xy":[[0.2354201875512212,1.0194786511406368],[0.30948840640734065,1.0882330658080557]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6953685564480933,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4564.png","name":"4564"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6721.png","name":"6721"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3028.png","name":"3028"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7248.png","name":"7248"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9937.png","name":"9937"}]},"visual":{"folder_name":"vis_dim_daylight","config_idx":2,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":531.9967886060073,"rotation_z_degrees":230.89031570375616,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.010855195833029942,-0.010032428806849354,-0.013329574065972696]},{"name":"camera_2","offset_m":[-0.009935727712683877,0.006778269864852419,0.007763594046460116]},{"name":"camera_3","offset_m":[0.0018318343177575538,0.016891935360749292,-0.010338644887547406]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001460720199667576,0.0003753495676256913,0.00011558419481337524],"end_effector_yaw_offset_degrees":-0.19248995713732353},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0003248296742638286,-0.0003890886220907759,-0.0001029505013703197],"end_effector_yaw_offset_degrees":-0.14861182159816888},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0016175244187507831,0.0012989394531398857,-0.0007134109120688038],"end_effector_yaw_offset_degrees":0.32302074973356376},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0017478992616402943,0.001852022701229404,-0.0006447551282543476],"end_effector_yaw_offset_degrees":0.8704459105949278},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0011185438026180723,0.0009762411498412437,0.0008904954310519973],"end_effector_yaw_offset_degrees":0.7105736866465218},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0012964549102280403,0.0014920831924350197,0.0015033280162396597],"end_effector_yaw_offset_degrees":0.12019954506329755}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0041904854367296645,-0.003540027612952751],"position_m":[0.3241904854367297,0.3495599723870473,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.0010823790476531528,-0.0002644792539881428],"position_m":[0.18108237904765315,-0.03386447925398814,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.001856055464674268,0.004483871455019064],"position_m":[0.27014394453532575,-0.36281612854498096,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004493631940232406,0.0010734948304197368],"position_m":[0.33400636805976763,0.10957349483041974,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"d84a28bc3033b98311cc2d279960148c256bfabb9598417f90efc77b0fb5d834","episode_index":90,"episode_name":"episode_0090"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0090.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_002_dim_daylight/scene_lab_003/tex_background_textures_4564/tex_ceiling_textures_9937/tex_floor_textures_7248/tex_table_textures_6721/tex_wall_textures_3028","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":8740749802616643909,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":8740749802616643909,"visual_seed":8740749802616643909,"scene_id":"lab_003","finished_at":"2026-09-06T20:53:24"} +{"episode_id":"ep_000090","started_at":"2026-09-06T20:53:31","dimensions":{"distractor":{"count":28,"items":[{"name":"st_rubber_stopper_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m01_0","position":[0.18709286774272482,1.2104645593876318,0.71338606911949],"aabb_xy":[[0.1645928682190174,1.1879686119370108],[0.2095928672664322,1.2329605068382523]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_1","position":[0.26187369218822376,1.0528738032834504,0.71338606911949],"aabb_xy":[[0.2577378358555236,1.0153738038390934],[0.266009548520924,1.0903738027278074]]},{"name":"st_luer_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g02_m02_2","position":[0.4589606006010434,-1.4184963670669728,0.71338606911949],"aabb_xy":[[0.44633381331384697,-1.4280424407685455],[0.4715873878882397,-1.4089502933653997]]},{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_3","position":[0.44421841534957784,-1.894947476186084,0.71338606911949],"aabb_xy":[[0.3842184155030111,-1.9517660983791227],[0.5042184151961446,-1.8381288539930454]]},{"name":"st_curved_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m02_4","position":[-0.32172713401923364,0.8006589895202234,0.71338606911949],"aabb_xy":[[-0.40172713728324677,0.7870989572113098],[-0.2417271307552205,0.8142190218291365]]},{"name":"lh_plastic_petri_dish_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g01_m01_5","position":[-0.519128341405082,1.2051156490642239,0.71338606911949],"aabb_xy":[[-0.5691283423556147,1.1735665020607022],[-0.4691283404545491,1.236664796067745]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_6","position":[0.2467245819242735,-1.0656055342087034,0.71338606911949],"aabb_xy":[[0.1827245846219271,-1.1099719611765602],[0.3107245792266199,-1.0212391072408467]]},{"name":"lh_pcr_tube_strip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g02_m01_7","position":[-0.27949751073629553,0.6142757944476696,0.71338606911949],"aabb_xy":[[-0.31634805867328314,0.5767757936246358],[-0.24264696279930792,0.6517757952707033]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_8","position":[-0.2714457924073231,1.1314486563722963,0.71338606911949],"aabb_xy":[[-0.2889457926523724,1.1139488685327292],[-0.25394579216227364,1.148948444211863]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_9","position":[-0.4913137669479336,0.7462748882719072,0.71338606911949],"aabb_xy":[[-0.5079909029410291,0.729574964297977],[-0.4746366309548381,0.7629748122458375]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_10","position":[-0.0762148611775233,0.06157821393202667,0.71338606911949],"aabb_xy":[[-0.12603164064235806,0.011578215447723313],[-0.026398081712688537,0.11157821241633004]]},{"name":"st_rubber_stopper_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g01_m01_11","position":[-0.19110889796531316,-1.7126926890305274,0.71338606911949],"aabb_xy":[[-0.21357366793671825,-1.735192689909388],[-0.16864412799390802,-1.690192688151667]]},{"name":"lh_microplate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m01_12","position":[0.025822498803618976,-0.9395036600648008,0.71338606911949],"aabb_xy":[[-0.016944208075801215,-1.0035036634866032],[0.06858920568303917,-0.8755036566429983]]},{"name":"st_micro_spatula_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_micro_spatula/st_micro_spatula_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_micro_spatula_g02_m02_13","position":[0.05060672796975341,-2.395272467529021,0.71338606911949],"aabb_xy":[[-0.03939327436426565,-2.4727548221141338],[0.14060673030377246,-2.3177901129439085]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[-0.3833884756089277,1.1908163346825575,0.71338606911949],"aabb_xy":[[-0.41335603251875336,1.1608163343846718],[-0.353420918699102,1.2208163349804433]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_15","position":[0.4046402333393919,-1.61139577857131,0.71338606911949],"aabb_xy":[[0.39373445725182915,-1.691395774970139],[0.4155460094269546,-1.5313957821724806]]},{"name":"st_hose_barb_y_connector_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g04_m02_16","position":[-0.08354605943006133,0.4639731687635691,0.71338606911949],"aabb_xy":[[-0.09369907498421069,0.42790362719082864],[-0.07339304387591193,0.5000427103363093]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_17","position":[0.40526195243139895,1.3876937698873242,0.71338606911949],"aabb_xy":[[0.355266941471947,1.3376937708517325],[0.4552569633908511,1.437693768922916]]},{"name":"lh_syringe_filter_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m02_18","position":[0.5286258202710197,-2.5708740885913763,0.71338606911949],"aabb_xy":[[0.5205995496403938,-2.5796255835687294],[0.5366520909016458,-2.562122593614024]]},{"name":"st_hose_barb_t_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m01_19","position":[-0.08789354620238232,-1.9481637986722569,0.71338606911949],"aabb_xy":[[-0.1228935460984012,-1.9565380341841967],[-0.052893546306363455,-1.9397895631603166]]},{"name":"lh_scintillation_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m02_20","position":[-0.24886961772836586,-2.1585457123893326,0.71338606911949],"aabb_xy":[[-0.2586256072375397,-2.1683082464485666],[-0.23911362821919194,-2.1487831783300977]]},{"name":"st_tubing_clamp_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g03_m02_21","position":[0.29801270769365884,-2.5324627317027577,0.71338606911949],"aabb_xy":[[0.26051270911803803,-2.545199027366315],[0.33551270626927965,-2.5197264360391993]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_22","position":[-0.13658462315255504,1.6065197659623407,0.71338606911949],"aabb_xy":[[-0.17090090032717298,1.556519765989163],[-0.1022683459779371,1.6565197659355184]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_23","position":[0.22673517930945342,-0.7693578311835161,0.71338606911949],"aabb_xy":[[0.22277469553971904,-0.7770256957690368],[0.2306956630791878,-0.7616899665979956]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_24","position":[-0.4297143245337806,-1.8175079590389513,0.71338606911949],"aabb_xy":[[-0.4634898837244736,-1.831546454252116],[-0.39593876534308764,-1.8034694638257862]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_25","position":[0.4342932607436836,-1.1692320189682541,0.71338606911949],"aabb_xy":[[0.35429325858092103,-1.2491872025943977],[0.5142932629064461,-1.0892768353421105]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_26","position":[0.25937843701090524,1.5117778586443502,0.71338606911949],"aabb_xy":[[0.16937843728773103,1.4887045061091702],[0.34937843673407937,1.5348512111795298]]},{"name":"st_lab_spoon_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m01_27","position":[0.6705149804910977,-1.3896797230292504,0.71338606911949],"aabb_xy":[[0.6587467936964402,-1.474679722934472],[0.6822831672857552,-1.3046797231240288]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995747040089658,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3964.png","name":"3964"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8112.png","name":"8112"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3838.png","name":"3838"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6931.png","name":"6931"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6408.png","name":"6408"}]},"visual":{"folder_name":"vis_dim_warm","config_idx":0,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_03_1k.hdr","texture_name":"studio_small_03_1k.hdr","intensity":661.0518976803675,"rotation_z_degrees":169.09730358810884,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.0009108133831097209,0.014895066338594155,-0.01754427005299662]},{"name":"camera_2","offset_m":[-0.010235745700455698,-0.006087773047780859,0.006197961001900541]},{"name":"camera_3","offset_m":[0.016243358010064667,0.0134428595898301,0.011281152992816342]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[3.125272920789877e-05,-0.0012337519782540996,-0.0008910984557816901],"end_effector_yaw_offset_degrees":-0.09443854638387728},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-1.5727039253963897e-05,0.0007232933898827449,-0.00031567688509177307],"end_effector_yaw_offset_degrees":0.9762472838943432},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001984916301630888,-0.001089091428037928,0.0006477899502774086],"end_effector_yaw_offset_degrees":-0.847358623524552},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0018677667067926174,0.00013142217299394812,-0.0016384895070625475],"end_effector_yaw_offset_degrees":0.1140281634455309},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0009182548838110719,-0.0013973460506067309,0.0012972502913646644],"end_effector_yaw_offset_degrees":-0.08983731073990286},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.000991620893098215,0.0014453118504659497,0.0018319463154288403],"end_effector_yaw_offset_degrees":-0.6747207042524992}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.00142596187945368,-0.0020161797537488722],"position_m":[0.3214259618794537,0.3510838202462512,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0013585082379974035,7.702391337143562e-05],"position_m":[0.17864149176200259,-0.03352297608662856,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0021518885407732914,-0.003986468598434704],"position_m":[0.2698481114592267,-0.3712864685984347,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0005862766667302857,-0.0010312328723039218],"position_m":[0.3390862766667303,0.10746876712769608,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3375b773fac7c92f962dec262f5a1fc321e4dcc97e7bd00012e6c3bb478387e1","episode_index":91,"episode_name":"episode_0091"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0091.h5","success":true,"combo_key":"hdri_studio_small_03_1k/light_000_dim_warm/scene_lab_003/tex_background_textures_3964/tex_ceiling_textures_6408/tex_floor_textures_6931/tex_table_textures_8112/tex_wall_textures_3838","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4270528597388633606,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4270528597388633606,"visual_seed":4270528597388633606,"scene_id":"lab_003","finished_at":"2026-09-06T21:00:21"} +{"episode_id":"ep_000091","started_at":"2026-09-06T21:00:28","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_0","position":[0.4118455548991671,0.8268841561399589,0.71338606911949],"aabb_xy":[[0.3568455566974222,0.7863621895135213],[0.46684555310091186,0.8674061227663965]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_1","position":[0.5687096726912915,0.6544100271044102,0.71338606911949],"aabb_xy":[[0.5647491889215571,0.6467421625188895],[0.5726701564610258,0.6620778916899307]]},{"name":"lh_deep_well_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m01_2","position":[-0.39321749598488265,-1.4219714111480237,0.71338606911949],"aabb_xy":[[-0.43930258723961413,-1.4859714084005786],[-0.34713240473015117,-1.3579714138954684]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_3","position":[0.5387378431496994,-1.4847005517882539,0.71338606911949],"aabb_xy":[[0.5022420225224206,-1.5211844942150115],[0.575233663776978,-1.4482166093614963]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_4","position":[-0.32020661928514316,0.9821546382519619,0.71338606911949],"aabb_xy":[[-0.3673359982869787,0.9181546372075599],[-0.2730772402833074,1.0461546392963639]]},{"name":"lh_plastic_screw_vial_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m02_5","position":[-0.3664136465659732,1.1382883559889572,0.71338606911949],"aabb_xy":[[-0.37583112113583594,1.128872178851238],[-0.35699617199611045,1.147704533126676]]},{"name":"lh_reagent_reservoir_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m01_6","position":[0.2790575167178093,-1.8925734793899975,0.71338606911949],"aabb_xy":[[0.21405751883616153,-1.9436971430965386],[0.3440575145994571,-1.841449815683457]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_7","position":[0.6610829739359756,-1.7925764406157811,0.71338606911949],"aabb_xy":[[0.6260829739594798,-1.8020410566633975],[0.6960829739124714,-1.7831118245681643]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_8","position":[0.3583459789021428,1.698895867844168,0.71338606911949],"aabb_xy":[[0.30834670373370665,1.6488958665682207],[0.408345254070579,1.748895869120115]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_9","position":[-0.3873658601249658,-1.0866384998668723,0.71338606911949],"aabb_xy":[[-0.4283838035113367,-1.1366385004978297],[-0.34634791673859494,-1.036638499235915]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_10","position":[-0.04748957532803555,-1.7057021022191643,0.71338606911949],"aabb_xy":[[-0.11748957713678099,-1.7270558709833517],[0.022510426480709896,-1.684348333454977]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_11","position":[0.10223150295224581,0.9407154183411812,0.71338606911949],"aabb_xy":[[0.08616957549372817,0.8557154165285894],[0.11829343041076346,1.025715420153773]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.20078130802731686,-0.6633484861966858,0.71338606911949],"aabb_xy":[[0.12078130937043088,-0.6778533451209487],[0.28078130668420287,-0.6488436272724232]]},{"name":"lh_pcr_tube_strip_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m01_13","position":[-0.45840166519336045,1.2785451390144096,0.71338606911949],"aabb_xy":[[-0.46253752152606065,1.2410451395700528],[-0.45426580886066026,1.3160451384587668]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_14","position":[0.30952008852782864,1.4680546150520883,0.71338606911949],"aabb_xy":[[0.29895260886972963,1.4575095849390798],[0.32008756818592765,1.478599645165097]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_15","position":[-0.32182975042884077,0.37735447417687196,0.71338606911949],"aabb_xy":[[-0.38682975142934123,0.326568109022197],[-0.2568297494283402,0.4281408393315469]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_16","position":[0.25869356129499665,0.7402250315448335,0.71338606911949],"aabb_xy":[[0.25065722659371176,0.7321869122404167],[0.26672989599628144,0.7482631508492502]]},{"name":"lh_microcentrifuge_tube_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g02_m01_17","position":[-0.01423333942333671,-2.0293366635458314,0.71338606911949],"aabb_xy":[[-0.021494586993744125,-2.0421236738093413],[-0.006972091852929296,-2.0165496532823224]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.5814633505777513,-1.8915422884154813,0.71338606911949],"aabb_xy":[[0.5639633512996644,-1.9088803884818273],[0.5989633498558381,-1.8742041883491354]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_19","position":[0.4893819170104703,-1.7843186124697374,0.71338606911949],"aabb_xy":[[0.4668854955766062,-1.806818612276485],[0.5118783384443344,-1.7618186126629902]]},{"name":"lh_pipette_tip_rack_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pipette_tip_rack/lh_pipette_tip_rack_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pipette_tip_rack_g04_m01_20","position":[0.04195517981103347,-1.3655163450082055,0.71338606911949],"aabb_xy":[[-0.023044822826760014,-1.4169959437076523],[0.10695518244882696,-1.3140367463087583]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_21","position":[0.11680430446510726,1.5152245354442866,0.71338606911949],"aabb_xy":[[0.10764442552123066,1.5086933174007495],[0.12596418340898385,1.5217557534878237]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7035224387485515,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1220.png","name":"1220"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/205.png","name":"205"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1134.png","name":"1134"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6783.png","name":"6783"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7665.png","name":"7665"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":844.2048218248078,"rotation_z_degrees":30.08467746216581,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.017443747804644392,-0.01313778045946814,0.0036703382536625896]},{"name":"camera_2","offset_m":[-0.017473547868607366,-0.0146615992306432,0.009096093832552388]},{"name":"camera_3","offset_m":[-0.008085720793139139,-0.017651726238729043,0.00022168142579148328]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0009276196989650596,0.00196161281944521,0.00014772333118834432],"end_effector_yaw_offset_degrees":0.19329730535734324},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0018569507547856836,0.0010411178355089826,0.0016158847304324105],"end_effector_yaw_offset_degrees":-0.1943987634537394},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0012934824847984669,-0.0010484746806932095,0.000976671536875987],"end_effector_yaw_offset_degrees":-0.7572869977941039},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0006001626333982646,-0.0008722210852113875,0.0016809327393275926],"end_effector_yaw_offset_degrees":-0.9407435813429759},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0012731115760368072,0.0017160438319707275,0.00046600683657651264],"end_effector_yaw_offset_degrees":-0.4785203392094688},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0016469689888484354,-3.547905774252489e-05,-0.0008613068668985725],"end_effector_yaw_offset_degrees":0.5842302589125203}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[4.129096059490942e-05,-0.0001449721718143563],"position_m":[0.3200412909605949,0.35295502782818566,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00018832992610580673,-0.0004244944244748425],"position_m":[0.1801883299261058,-0.03402449442447484,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.00379404614621717,-0.001897151554328208],"position_m":[0.27579404614621716,-0.3691971515543282,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.0022972534115925057,-0.00018289275716917332],"position_m":[0.33620274658840754,0.10831710724283082,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"dce0d1ba8bff1e38c33348619cb996fcedef4d5480d273ab8f7a08ac51f1417b","episode_index":92,"episode_name":"episode_0092"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0092.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_1220/tex_ceiling_textures_7665/tex_floor_textures_6783/tex_table_textures_205/tex_wall_textures_1134","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7501752405641491111,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7501752405641491111,"visual_seed":7501752405641491111,"scene_id":"lab_003","finished_at":"2026-09-06T21:07:16"} +{"episode_id":"ep_000092","started_at":"2026-09-06T21:07:22","dimensions":{"distractor":{"count":22,"items":[{"name":"wc_watch_glass_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m01_0","position":[-0.1339929585138483,0.4383862109349117,0.71338606911949],"aabb_xy":[[-0.18398779144178987,0.3883862120396681],[-0.08399812558590666,0.4883862098301552]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_1","position":[-0.03235066216760274,0.8804449139082697,0.71338606911949],"aabb_xy":[[-0.062318219077428405,0.850444913610384],[-0.002383105257777074,0.9104449142061555]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_2","position":[-0.14039107219266245,-2.0550550068092366,0.71338606911949],"aabb_xy":[[-0.14973807977495768,-2.0693586290268806],[-0.13104406461036722,-2.0407513845915926]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_3","position":[-0.5481087685793326,1.742533476247726,0.71338606911949],"aabb_xy":[[-0.5656087020133158,1.7250334763274913],[-0.5306088351453491,1.7600334761679604]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_4","position":[-0.2573761014710693,-0.5177430500864704,0.71338606911949],"aabb_xy":[[-0.27343802892958696,-0.6027430518990621],[-0.2413141740125517,-0.4327430482738785]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_5","position":[-0.483984818416773,-0.6635742643588096,0.71338606911949],"aabb_xy":[[-0.5008955508531147,-0.677046469951424],[-0.46707408598043115,-0.650102058766195]]},{"name":"lh_dropper_bottle_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m01_6","position":[0.042789676982286196,-2.4757588340539662,0.71338606911949],"aabb_xy":[[0.025211374793339347,-2.4933333236280713],[0.060367979171233044,-2.4581843444798612]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_7","position":[-0.14280147213205185,1.617646377545101,0.71338606911949],"aabb_xy":[[-0.20680147239252267,1.5726375781921729],[-0.07880147187158106,1.6626551768980289]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_8","position":[0.49414345200450005,-0.6877563718066972,0.71338606911949],"aabb_xy":[[0.4141434505743728,-0.7672735268193066],[0.5741434534346272,-0.6082392167940877]]},{"name":"st_tubing_clamp_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m02_9","position":[-0.1363718047503557,1.276818304498426,0.71338606911949],"aabb_xy":[[-0.14566542298750626,1.239318306010292],[-0.1270781865132051,1.3143183029865597]]},{"name":"wc_weighing_bottle_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g04_m01_10","position":[-0.2683642328130912,-1.6264803763511546,0.71338606911949],"aabb_xy":[[-0.2882552726934315,-1.639136187635852],[-0.248473192932751,-1.6138245650664582]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_11","position":[0.04472375868669454,-2.147288834466069,0.71338606911949],"aabb_xy":[[0.039767738501813345,-2.1697888346681915],[0.04967977887157575,-2.124788834263948]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_12","position":[-0.15318790926673787,0.12979441967504313,0.71338606911949],"aabb_xy":[[-0.22318791190332418,0.1096895546791776],[-0.08318790663015149,0.1498992846709086]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_13","position":[0.5779147371441398,-1.7413124145749763,0.71338606911949],"aabb_xy":[[0.5666696815735218,-1.7525542122990716],[0.5891597927147575,-1.730070616850881]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_14","position":[0.6119342658509304,0.7605080014107073,0.71338606911949],"aabb_xy":[[0.5706854548210155,0.7055080018984898],[0.653183076880845,0.8155080009229247]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_15","position":[-0.0012452031621046356,1.603342574513801,0.71338606911949],"aabb_xy":[[-0.031643314261248216,1.5729356725121313],[0.02915290793703895,1.6337494765154703]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_16","position":[-0.5166345967448307,-1.6136000267336597,0.71338606911949],"aabb_xy":[[-0.5411482208418366,-1.637864620035696],[-0.49212097264782484,-1.5893354334316232]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[0.056258194650493865,-1.353740852741069,0.71338606911949],"aabb_xy":[[0.038827479571487356,-1.3710129674049196],[0.07368890972950037,-1.336468738077218]]},{"name":"wc_watch_glass_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g01_m02_18","position":[-0.1707025655773461,1.0700595587023702,0.71338606911949],"aabb_xy":[[-0.2207025650175417,1.0200916342180537],[-0.12070256613715047,1.1200274831866863]]},{"name":"lh_microcentrifuge_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g04_m01_19","position":[0.5333869081058917,-2.079078711811229,0.71338606911949],"aabb_xy":[[0.5251723629902076,-2.0877553021088695],[0.5416014532215756,-2.070402121513587]]},{"name":"lh_bulk_pipette_tip_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g02_m01_20","position":[-0.17738322767221937,0.8006773709125756,0.71338606911949],"aabb_xy":[[-0.18108648900135824,0.7969753526038577],[-0.1736799663430805,0.8043793892212934]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_21","position":[0.29792108035280396,-1.480685672176276,0.71338606911949],"aabb_xy":[[0.2939605965830696,-1.4883535367617968],[0.3018815641225383,-1.4730178075907556]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7039777007520523,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3084.png","name":"3084"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/3084.png","name":"3084"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1337.png","name":"1337"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4843.png","name":"4843"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4061.png","name":"4061"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2047.png","name":"2047"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":512.4644316867491,"rotation_z_degrees":26.175871910698376,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.018784038039734354,-0.016909965262302415,-0.01668653327150188]},{"name":"camera_2","offset_m":[-0.008291036606105836,-0.017120677836278464,0.01512720412248066]},{"name":"camera_3","offset_m":[0.010870367822127497,-0.01774313787903094,-0.017564473909238584]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.001548502906082375,0.0009300016002075596,-0.0015136727912585886],"end_effector_yaw_offset_degrees":-0.47672898092792537},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.00048078176688640855,-0.001703339231328243,-0.0009263760741831737],"end_effector_yaw_offset_degrees":0.6382722811717856},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.00017952404717044563,-0.00014480202401270597,-0.0005240709695262379],"end_effector_yaw_offset_degrees":-0.5118556103270697},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0015236619932047053,-0.00182720166887263,-0.0013145605824005742],"end_effector_yaw_offset_degrees":0.8774752657618621},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0010127414803554257,0.0004555050428467181,-0.0007138735377968928],"end_effector_yaw_offset_degrees":-0.5647673804318483},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005556563952260252,0.0014456432753926123,-0.00121227623963592],"end_effector_yaw_offset_degrees":0.2757041331155494}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004534319789747233,-0.00312678828725905],"position_m":[0.3154656802102528,0.349973211712741,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004429631685464322,-0.002501925695235131],"position_m":[0.17557036831453568,-0.036101925695235126,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.002502699182869007,-0.004845499274638795],"position_m":[0.274502699182869,-0.3721454992746388,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0019717258196489517,-0.004470657180675381],"position_m":[0.34047172581964896,0.10402934281932462,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"3cadd88ee163369c0cd4870f4f967f4c5ec2fbd307abef8828734524d9859ee4","episode_index":93,"episode_name":"episode_0093"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0093.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_3084/tex_ceiling_textures_2047/tex_floor_textures_4061/tex_table_textures_1337/tex_wall_textures_4843","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":7554862908805920669,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":7554862908805920669,"visual_seed":7554862908805920669,"scene_id":"lab_003","finished_at":"2026-09-06T21:14:48"} +{"episode_id":"ep_000093","started_at":"2026-09-06T21:14:55","dimensions":{"distractor":{"count":29,"items":[{"name":"lh_plastic_petri_dish_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m02_0","position":[0.5145032419628475,-1.694643456958672,0.71338606911949],"aabb_xy":[[0.46451900625467024,-1.7446434557721675],[0.5644874776710247,-1.6446434581451763]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_1","position":[-0.5976285883845462,-2.2136749587644604,0.71338606911949],"aabb_xy":[[-0.6052528564747245,-2.221308182301004],[-0.590004320294368,-2.2060417352279167]]},{"name":"lh_pcr_tube_strip_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m02_2","position":[-0.3110998772968381,1.3782365671282277,0.71338606911949],"aabb_xy":[[-0.3485998777941964,1.3742678835801092],[-0.2735998767994799,1.3822052506763463]]},{"name":"lh_microcentrifuge_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g01_m01_3","position":[-0.10634720419156785,1.50820060998158,0.71338606911949],"aabb_xy":[[-0.11550708313544444,1.5016693919380428],[-0.09718732524769125,1.514731828025117]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.5060919396940722,0.20609578062726186,0.71338606911949],"aabb_xy":[[-0.5180246740559002,0.19371362781940246],[-0.4941592053322441,0.2184779334351212]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_5","position":[-0.08809927445081056,1.6639682767185566,0.71338606911949],"aabb_xy":[[-0.09900505053837326,1.5839682803197275],[-0.07719349836324783,1.7439682731173858]]},{"name":"lh_sample_storage_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g02_m02_6","position":[-0.5985681182218618,1.7579549527664118,0.71338606911949],"aabb_xy":[[-0.6129025433480253,1.745894737211873],[-0.5842336930956984,1.7700151683209506]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_7","position":[-0.041269265898622454,-2.356324446841385,0.71338606911949],"aabb_xy":[[-0.045904381050855834,-2.3601917819185334],[-0.03663415074638906,-2.352457111764236]]},{"name":"st_hose_barb_y_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g03_m01_8","position":[-0.26353238443976346,-0.7261280819285498,0.71338606911949],"aabb_xy":[[-0.2684316767463269,-0.7538050012311185],[-0.2586330921331999,-0.698451162625981]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_9","position":[0.28779913069846863,1.2062068754435402,0.71338606911949],"aabb_xy":[[0.23378353441656857,1.142206872551283],[0.3418147269803686,1.2702068783357974]]},{"name":"st_magnetic_stir_bar_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m02_10","position":[0.5494067477867901,-1.1002647165576074,0.71338606911949],"aabb_xy":[[0.5269076120605631,-1.1227647173358704],[0.5719058835130171,-1.0777647157793444]]},{"name":"lh_scintillation_vial_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m02_11","position":[0.1929407432005319,-2.507043361748752,0.71338606911949],"aabb_xy":[[0.1849467546228285,-2.5150434418438423],[0.2009347317782353,-2.499043281653661]]},{"name":"lh_pcr_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m01_12","position":[-0.11337157199741643,-1.2018852471471004,0.71338606911949],"aabb_xy":[[-0.1173320557671508,-1.2095531117326213],[-0.10941108822768206,-1.19421738256158]]},{"name":"wc_crystallizing_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g02_m02_13","position":[0.5500405061506723,1.1181280380788237,0.71338606911949],"aabb_xy":[[0.47004050472054515,1.0386108830662142],[0.6300405075807995,1.1976451930914331]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_14","position":[-0.6526920146801809,1.2071324302646542,0.71338606911949],"aabb_xy":[[-0.6864675738708739,1.193093935051489],[-0.6189164554894879,1.221170925477819]]},{"name":"lh_cryovial_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m01_15","position":[0.30707179410928154,0.7722340530826699,0.71338606911949],"aabb_xy":[[0.29622018786040594,0.7613747623550189],[0.31792340035815714,0.7830933438103209]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_16","position":[-0.05120733026561064,-1.7575915882504964,0.71338606911949],"aabb_xy":[[-0.1010241097304454,-1.8075915867348],[-0.0013905508007758804,-1.7075915897661933]]},{"name":"lh_dropper_bottle_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g03_m02_17","position":[-0.0936361782420545,0.1805277939567409,0.71338606911949],"aabb_xy":[[-0.111066893321061,0.16325567929289006],[-0.07620546316304798,0.19779990862059169]]},{"name":"lh_scintillation_vial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g01_m01_18","position":[-0.37227575156199233,-2.1764718969745536,0.71338606911949],"aabb_xy":[[-0.3804034397553056,-2.1853855053852613],[-0.36414806336867916,-2.167558288563846]]},{"name":"st_test_tube_holder_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m01_19","position":[-0.6384221383679101,-0.43631017279241435,0.71338606911949],"aabb_xy":[[-0.6603118859568508,-0.5263101700816635],[-0.6165323907789692,-0.34631017550316523]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_20","position":[0.5746608664876547,-2.27693613567009,0.71338606911949],"aabb_xy":[[0.5579837304945593,-2.29363605964402],[0.5913380024807503,-2.2602362116961596]]},{"name":"st_hose_barb_t_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g01_m02_21","position":[-0.2581413620129073,0.8636036039493447,0.71338606911949],"aabb_xy":[[-0.2931413602830272,0.8565294762543564],[-0.22314136374278737,0.8706777316443327]]},{"name":"st_straight_forceps_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m02_22","position":[0.08855032548554853,-1.5301185450165233,0.71338606911949],"aabb_xy":[[0.07567842198460839,-1.6101185454303593],[0.10142222898648867,-1.450118544602687]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_23","position":[0.6870551718654458,-1.2516776766790378,0.71338606911949],"aabb_xy":[[0.6700450745753952,-1.2678121651773115],[0.7040652691554965,-1.2355431881807637]]},{"name":"lh_specimen_cup_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g03_m02_24","position":[-0.4577462322816239,1.0477473549012717,0.71338606911949],"aabb_xy":[[-0.4933753881815836,1.0121146881444187],[-0.4221170763816641,1.0833800216581246]]},{"name":"wc_weighing_bottle_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g03_m02_25","position":[0.10487046472890815,-1.346645211338828,0.71338606911949],"aabb_xy":[[0.08719483414030982,-1.3643254276182306],[0.12254609531750649,-1.3289649950594251]]},{"name":"st_lab_spoon_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g01_m02_26","position":[-0.24085752878503158,-2.3653920172477267,0.71338606911949],"aabb_xy":[[-0.25272961179653264,-2.450392016941377],[-0.22898544577353042,-2.2803920175540764]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_27","position":[-0.11905252651491627,0.010705538483296806,0.71338606911949],"aabb_xy":[[-0.17905252702276916,-0.04614119520262449],[-0.05905252600706334,0.0675522721692181]]},{"name":"wc_stemless_funnel_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m02_28","position":[-0.3237902432270507,-1.7249206460924698,0.71338606911949],"aabb_xy":[[-0.3737635372303111,-1.774920646647017],[-0.2738169492237902,-1.6749206455379224]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6979387256156412,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5197.png","name":"5197"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5197.png","name":"5197"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1403.png","name":"1403"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6427.png","name":"6427"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1104.png","name":"1104"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9972.png","name":"9972"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":730.6482561662655,"rotation_z_degrees":320.4790388346161,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.008854849201174141,-0.016935276733809946,-0.005224957821201493]},{"name":"camera_2","offset_m":[-0.01665992301835392,0.010609118199169015,0.012945614472816277]},{"name":"camera_3","offset_m":[-0.005416368328513102,0.007519019703632869,-0.012762688674729385]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0019503959468415372,0.0018517003524327002,1.617595340524386e-05],"end_effector_yaw_offset_degrees":0.003641791002689354},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-6.893736094502716e-05,0.0003546369685432727,-0.0003037019134033323],"end_effector_yaw_offset_degrees":0.6962293880939356},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001278026438938873,-0.0017171520156392176,-0.0010221710276814861],"end_effector_yaw_offset_degrees":-0.12110308179149709},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.001485381561502463,0.0006013171705560689,-0.0014213956335347984],"end_effector_yaw_offset_degrees":0.4271806573757011},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0007281733024838033,0.0014865879139560646,-0.001686880667576851],"end_effector_yaw_offset_degrees":-0.5079318183519475},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0018746771854335435,-0.0015847069086418104,-0.00018618391045183494],"end_effector_yaw_offset_degrees":-0.5984872838757114}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0015971822630739107,0.001999708533682647],"position_m":[0.32159718226307393,0.35509970853368267,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0030660178967420373,-0.004167065472157042],"position_m":[0.17693398210325795,-0.03776706547215704,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-3.259237572457267e-05,0.0025400297744822744],"position_m":[0.27196740762427546,-0.36475997022551776,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0017256460386612035,0.004468786223886107],"position_m":[0.34022564603866123,0.1129687862238861,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"c8fd7657be9b27c0ae8427c8744622c173c39297702eda3f3deb2c97c4ff7c7b","episode_index":94,"episode_name":"episode_0094"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0094.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_5197/tex_ceiling_textures_9972/tex_floor_textures_1104/tex_table_textures_1403/tex_wall_textures_6427","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2900193295026272135,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2900193295026272135,"visual_seed":2900193295026272135,"scene_id":"lab_003","finished_at":"2026-09-06T21:21:48"} +{"episode_id":"ep_000094","started_at":"2026-09-06T21:21:55","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_0","position":[-0.537629939308118,-0.47619863910218196,0.71338606911949],"aabb_xy":[[-0.5876299379540391,-0.5261181827616443],[-0.48762994066219667,-0.4262790954427196]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_1","position":[0.2223725556961439,-1.3640445023862167,0.71338606911949],"aabb_xy":[[0.204872556418057,-1.3813826024525626],[0.23987255497423074,-1.3467064023198707]]},{"name":"wc_glass_petri_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m02_2","position":[-0.15038220376703038,-0.6151344971911357,0.71338606911949],"aabb_xy":[[-0.20537445440254135,-0.6701344989344484],[-0.09538995313151943,-0.5601344954478229]]},{"name":"lh_syringe_filter_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m01_3","position":[0.629956557590442,1.7708061281520062,0.71338606911949],"aabb_xy":[[0.6124565584560748,1.7609265011144182],[0.6474565567248092,1.7806857551895938]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_4","position":[-0.12189476358240803,-1.007271967850291,0.71338606911949],"aabb_xy":[[-0.1868947621394809,-1.0370245012641734],[-0.05689476502533522,-0.9775194344364082]]},{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_5","position":[0.02770222816254808,-1.2800912005150962,0.71338606911949],"aabb_xy":[[-0.03629777254092127,-1.3261095829880172],[0.09170222886601744,-1.2340728180421752]]},{"name":"st_cork_borer_set_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g01_m02_6","position":[-0.5206473734994089,-0.27198309218668637,0.71338606911949],"aabb_xy":[[-0.610647373222583,-0.29505644472186615],[-0.4306473737762347,-0.2489097396515065]]},{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_7","position":[-0.077004090049138,0.07008800097408807,0.71338606911949],"aabb_xy":[[-0.12700409040970403,0.02010801376448512],[-0.027004089688571927,0.12006798818369101]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_8","position":[-0.04499327986007984,1.3702166581101163,0.71338606911949],"aabb_xy":[[-0.09999327903666932,1.3152269833351586],[0.010006719316509656,1.425206332885074]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_9","position":[-0.27379501285625224,-1.108145410029899,0.71338606911949],"aabb_xy":[[-0.3080919238739928,-1.14244229623984],[-0.23949810183851156,-1.0738485238199573]]},{"name":"lh_cryovial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g03_m01_10","position":[-0.16072937341333815,-0.8522136967028324,0.71338606911949],"aabb_xy":[[-0.1687228632086202,-0.8602118286433081],[-0.15273588361805615,-0.8442155647623569]]},{"name":"lh_multichannel_trough_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g04_m01_11","position":[0.5439398065753569,0.984350986679078,0.71338606911949],"aabb_xy":[[0.5127928877317738,0.9143509879922708],[0.57508672541894,1.0543509853658852]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_12","position":[0.04938894363077917,-2.113932711239285,0.71338606911949],"aabb_xy":[[-0.030611055026106837,-2.128437570163548],[0.12938894228766518,-2.099427852315022]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_13","position":[0.500620912706415,-1.878323894032111,0.71338606911949],"aabb_xy":[[0.4929966446162368,-1.8859571175686547],[0.5082451807965933,-1.8706906704955673]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_14","position":[0.04430925096929983,-1.1540978445433874,0.71338606911949],"aabb_xy":[[0.014341694059474157,-1.1840978448412731],[0.0742768078791255,-1.1240978442455016]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_15","position":[0.15918320017900744,-2.3079238015462478,0.71338606911949],"aabb_xy":[[0.10516760389710741,-2.371923804438505],[0.21319879646090742,-2.2439237986539906]]},{"name":"st_luer_connector_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m01_16","position":[-0.49654811047441755,-1.3514599334210815,0.71338606911949],"aabb_xy":[[-0.5215481096400507,-1.3584121791264383],[-0.4715481113087845,-1.3445076877157252]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_17","position":[-0.5303191386812448,-1.5454710999601118,0.71338606911949],"aabb_xy":[[-0.5478191389405817,-1.5595626421488848],[-0.5128191384219084,-1.5313795577713396]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_18","position":[0.3721093305273675,0.6379273234061715,0.71338606911949],"aabb_xy":[[0.3615418508692685,0.6273822932931629],[0.3826768101854665,0.64847235351918]]},{"name":"wc_evaporating_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m02_19","position":[-0.5177473954559667,1.0810749183053052,0.71338606911949],"aabb_xy":[[-0.5777473959638196,1.0242281846193837],[-0.45774739494811384,1.1379216519912263]]},{"name":"lh_pcr_tube_strip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g04_m02_20","position":[0.43027111156904385,-1.569626175954637,0.71338606911949],"aabb_xy":[[0.392771111276869,-1.5736676513552406],[0.4677711118612186,-1.5655847005540335]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7043398061055617,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9909.png","name":"9909"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8276.png","name":"8276"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/701.png","name":"701"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/4721.png","name":"4721"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8208.png","name":"8208"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":628.1358808256091,"rotation_z_degrees":294.60889077057755,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.014539299768641902,0.01852019585858512,0.009535029828286613]},{"name":"camera_2","offset_m":[0.014637556009790848,0.008434933615075121,-0.0055087159219686915]},{"name":"camera_3","offset_m":[-0.005923888773339252,0.0010283774551912706,0.0009238630748296117]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-7.882919162063959e-05,0.001642852793481271,-0.0008124352584749613],"end_effector_yaw_offset_degrees":-0.36260768877388894},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0010060922575977536,0.0009051257026118273,-0.0012430210046569848],"end_effector_yaw_offset_degrees":0.18805136653938437},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00047814163236536197,-0.0006151047768079151,0.0011487483146785079],"end_effector_yaw_offset_degrees":0.1973284329959586},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.00017420016401960888,0.001503616459284806,0.0012484388717279057],"end_effector_yaw_offset_degrees":-0.9656722026440092},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0014394701289534954,-0.0018122381543043712,0.00022029738330235768],"end_effector_yaw_offset_degrees":0.1131405085409507},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005475402018523348,-0.00048529806054693346,-0.0018207103705879084],"end_effector_yaw_offset_degrees":0.3789560571988275}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.0018310983199231155,0.0009712380036973021],"position_m":[0.3181689016800769,0.35407123800369733,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0033711593095210324,-0.0012272945576164585],"position_m":[0.17662884069047896,-0.034827294557616455,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004996633243061754,-0.0015027633736498557],"position_m":[0.2769966332430618,-0.36880276337364987,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0047497236237059185,-0.00045353780721281694],"position_m":[0.3432497236237059,0.10804646219278718,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"f40f6e25f7a05eab10fa73c7c5d66e467904febded75735a7d41046cbd0a8ca4","episode_index":95,"episode_name":"episode_0095"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0095.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_9909/tex_ceiling_textures_8208/tex_floor_textures_4721/tex_table_textures_8276/tex_wall_textures_701","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":5704975393351766946,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":5704975393351766946,"visual_seed":5704975393351766946,"scene_id":"lab_003","finished_at":"2026-09-06T21:28:40"} +{"episode_id":"ep_000095","started_at":"2026-09-06T21:28:48","dimensions":{"distractor":{"count":21,"items":[{"name":"wc_evaporating_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g02_m02_0","position":[0.6530954731596372,0.6811819887126558,0.71338606911949],"aabb_xy":[[0.5930954733130704,0.624363366519617],[0.713095473006204,0.7380006109056944]]},{"name":"lh_microplate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g02_m01_1","position":[-0.5401628362301362,1.5948554693541488,0.71338606911949],"aabb_xy":[[-0.5941784325120361,1.5308554664618916],[-0.48614723994823605,1.658855472246406]]},{"name":"lh_deep_well_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g04_m02_2","position":[0.3578866606012936,-1.968743456863498,0.71338606911949],"aabb_xy":[[0.29388665838088657,-2.0131165409887863],[0.4218866628217006,-1.9243703727382095]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_3","position":[0.4943474589650041,-1.7562793527187721,0.71338606911949],"aabb_xy":[[0.4143474615614106,-1.8362719239169552],[0.5743474563685974,-1.6762867815205895]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_4","position":[-0.5064041715349435,0.43579822436601834,0.71338606911949],"aabb_xy":[[-0.5437354480601861,0.401145169571166],[-0.46907289500970095,0.47045127916087065]]},{"name":"lh_cell_culture_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g03_m01_5","position":[-0.1935768972549291,1.4842796927555004,0.71338606911949],"aabb_xy":[[-0.24070627625676472,1.4202796917110982],[-0.14644751825309338,1.5482796937999022]]},{"name":"st_lab_spoon_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g02_m02_6","position":[0.3560586392928038,0.8051512593109722,0.71338606911949],"aabb_xy":[[0.3399967118342861,0.7201512574983803],[0.3721205667513214,0.8901512611235639]]},{"name":"lh_sample_storage_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m01_7","position":[-0.34659727932797635,0.16439427668563944,0.71338606911949],"aabb_xy":[[-0.3559442869102716,0.15009065446799544],[-0.3372502717456811,0.1786978989032835]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_8","position":[-0.3330192857052668,1.8120315574699632,0.71338606911949],"aabb_xy":[[-0.34064355379544503,1.8043983339334198],[-0.32539501761508854,1.8196647810065072]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_9","position":[0.13517770378812954,-2.1779216472543554,0.71338606911949],"aabb_xy":[[0.10521014687830388,-2.207921647552241],[0.1651452606979552,-2.14792164695647]]},{"name":"lh_syringe_filter_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m02_10","position":[0.5248081358219596,-1.0546401035615758,0.71338606911949],"aabb_xy":[[0.5089236425566345,-1.0689930438603998],[0.5406926290872848,-1.0402871632627517]]},{"name":"wc_stemless_funnel_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g01_m01_11","position":[0.5011413423987328,0.3049180447871085,0.71338606911949],"aabb_xy":[[0.4511682768662174,0.2549180449745756],[0.5511144079312483,0.3549180445996414]]},{"name":"lh_microcentrifuge_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m02_12","position":[-0.17298901846519532,1.086562444687225,0.71338606911949],"aabb_xy":[[-0.17908364635331364,1.0779930501355566],[-0.166894390577077,1.095131839238894]]},{"name":"lh_syringe_filter_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m01_13","position":[0.4660097075448171,0.5336676743988296,0.71338606911949],"aabb_xy":[[0.44850977411083365,0.5161676744785949],[0.4835096409788004,0.551167674319064]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_14","position":[-0.2634695064610123,-0.6990915428724829,0.71338606911949],"aabb_xy":[[-0.3134626185702042,-0.7490915435466786],[-0.21347639435182042,-0.6490915421982874]]},{"name":"st_hose_barb_y_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m01_15","position":[0.5908864657434636,-0.8680830202899306,0.71338606911949],"aabb_xy":[[0.5533864655715915,-0.9007837556728375],[0.6283864659153354,-0.8353822849070232]]},{"name":"wc_watch_glass_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m02_16","position":[0.3529367795055325,-1.239923712264001,0.71338606911949],"aabb_xy":[[0.30293677784403766,-1.2899221545197035],[0.4029367811670272,-1.189925270008298]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_17","position":[-0.2480031120377455,-1.5695039449171553,0.71338606911949],"aabb_xy":[[-0.26491384447408717,-1.58297615050977],[-0.23109237960140366,-1.5560317393245406]]},{"name":"vis_liquid_conical_flask_01","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_01/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_01_18","position":[0.4385736063693828,-0.6226372037557792,0.71338606911949],"aabb_xy":[[0.40002791354418177,-0.6611829748119679],[0.47711929919458385,-0.5840914326995906]]},{"name":"lh_specimen_cup_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m02_19","position":[0.4741279294535077,-2.3996301738126244,0.71338606911949],"aabb_xy":[[0.44372981835436404,-2.4300370758142935],[0.5045260405526512,-2.3692232718109545]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_20","position":[-0.08855239724389774,-1.7827254466649916,0.71338606911949],"aabb_xy":[[-0.15855239988048409,-1.8028303116608568],[-0.018552394607311395,-1.7626205816691258]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6943654511621026,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6325.png","name":"6325"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6325.png","name":"6325"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/703.png","name":"703"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7475.png","name":"7475"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9911.png","name":"9911"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6883.png","name":"6883"}]},"visual":{"folder_name":"vis_normal_daylight","config_idx":6,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"daylight","rgb":[1.0,1.0,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":642.7420006915139,"rotation_z_degrees":24.851772149463145,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.010113253897733676,0.008477398205361357,-0.006493397701231368]},{"name":"camera_2","offset_m":[-0.01798257125923015,0.00030888801222875295,0.006820703157785518]},{"name":"camera_3","offset_m":[0.016565201019245576,0.0022483893639989906,0.0019177331978522706]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.0005726852372657395,-0.0008054344619805981,-0.0012005709419088328],"end_effector_yaw_offset_degrees":-0.07104044324535663},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001232673417861436,-0.0003586175048572015,0.0013397750020163082],"end_effector_yaw_offset_degrees":-0.9998843232179353},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.001443515585113539,-0.0011317758714147492,-0.0018170127713189967],"end_effector_yaw_offset_degrees":-0.8329852989659348},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0011466011130906863,-0.0005892413318774566,1.9902670614301964e-05],"end_effector_yaw_offset_degrees":0.9602697270817038},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0017744414653130148,-0.0009870479474393542,0.001968673522280362],"end_effector_yaw_offset_degrees":0.11470664273721853},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005659557163321025,-0.0005262630725356905,-0.001433689074668766],"end_effector_yaw_offset_degrees":-0.3969858374566675}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.004475224992365331,0.003105333978562869],"position_m":[0.31552477500763465,0.3562053339785629,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004594609569079909,-0.0035610127617517985],"position_m":[0.17540539043092007,-0.037161012761751794,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004511451144482426,0.002081146412985079],"position_m":[0.2674885488555176,-0.36521885358701495,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.004565242942076996,0.00260505459565772],"position_m":[0.333934757057923,0.11110505459565773,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"37433cda0e5cf960c299e025fb02efb2a596641bd9b80ff21c20ae6859eb38f3","episode_index":96,"episode_name":"episode_0096"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0096.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_006_normal_daylight/scene_lab_003/tex_background_textures_6325/tex_ceiling_textures_6883/tex_floor_textures_9911/tex_table_textures_703/tex_wall_textures_7475","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4467385435989183001,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4467385435989183001,"visual_seed":4467385435989183001,"scene_id":"lab_003","finished_at":"2026-09-06T21:35:47"} +{"episode_id":"ep_000096","started_at":"2026-09-06T21:35:54","dimensions":{"distractor":{"count":31,"items":[{"name":"lh_cell_culture_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m01_0","position":[0.01634575294053542,-0.9509869615090205,0.71338606911949],"aabb_xy":[[-0.047654247762933935,-0.9970053439819416],[0.08034575364400477,-0.9049685790360996]]},{"name":"lh_bulk_pipette_tip_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g01_m01_1","position":[-0.1072657444215176,1.460360481987642,0.71338606911949],"aabb_xy":[[-0.11259825907613058,1.4550361537424064],[-0.10193322976690461,1.4656848102328774]]},{"name":"st_magnetic_stir_bar_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g02_m02_2","position":[0.07952273159704681,-1.6565176708343108,0.71338606911949],"aabb_xy":[[0.07159945135829848,-1.679017671072314],[0.08744601183579515,-1.6340176705963072]]},{"name":"lh_pcr_tube_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g03_m02_3","position":[0.5357818767197708,-1.5012726096436557,0.71338606911949],"aabb_xy":[[0.5311467615675374,-1.505139944720804],[0.5404169918720041,-1.4974052745665065]]},{"name":"lh_syringe_filter_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g03_m02_4","position":[0.34729997355358266,0.7133595415468879,0.71338606911949],"aabb_xy":[[0.32979997329424604,0.6992679993581155],[0.3647999738129193,0.7274510837356607]]},{"name":"st_luer_connector_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g03_m02_5","position":[-0.24870636313327155,-2.335284058924429,0.71338606911949],"aabb_xy":[[-0.2602753438802081,-2.360284059041361],[-0.23713738238633497,-2.3102840588074978]]},{"name":"lh_plastic_petri_dish_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m02_6","position":[-0.4895831210697804,1.6006334497894854,0.71338606911949],"aabb_xy":[[-0.5395660712572596,1.5506334501469248],[-0.439600170882301,1.6506334494320456]]},{"name":"wc_stemless_funnel_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m02_7","position":[-0.15324457062083396,-2.1979005038144788,0.71338606911949],"aabb_xy":[[-0.19426251400720485,-2.2479005044454357],[-0.11222662723446308,-2.147900503183521]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_8","position":[-0.3669664775825678,-1.4516289671418878,0.71338606911949],"aabb_xy":[[-0.4469664786556881,-1.4614070134792725],[-0.28696647650944745,-1.4418509208045036]]},{"name":"lh_microplate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m01_9","position":[-0.4160150897390786,0.09308902868591407,0.71338606911949],"aabb_xy":[[-0.4800150920818801,0.04814817744178156],[-0.35201508739627696,0.13802987993004653]]},{"name":"st_hose_barb_t_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m02_10","position":[0.23845055255456216,-1.6131151914287223,0.71338606911949],"aabb_xy":[[0.20345055424386665,-1.6208302063522682],[0.27345055086525755,-1.6054001765051769]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_11","position":[0.4018929668989293,1.5070708053131772,0.71338606911949],"aabb_xy":[[0.33189296509018384,1.4857170365489896],[0.4718929687076747,1.5284245740773643]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_12","position":[0.17531845038216765,0.8082721231545764,0.71338606911949],"aabb_xy":[[0.11131845309651897,0.7667654042017323],[0.23931844766781626,0.8497788421074203]]},{"name":"st_hose_barb_y_connector_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_y_connector/st_hose_barb_y_connector_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_y_connector_g02_m02_13","position":[0.2611122521639506,-1.411016705733795,0.71338606911949],"aabb_xy":[[0.22431761903904435,-1.4479225808303773],[0.2979068852888569,-1.3741108306372127]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_14","position":[-0.13307040368152734,0.382170362586304,0.71338606911949],"aabb_xy":[[-0.13651107992158448,0.37830892961193957],[-0.12962972744147014,0.3860317955606685]]},{"name":"lh_syringe_filter_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g02_m01_15","position":[0.5671538715878237,1.7712293348166424,0.71338606911949],"aabb_xy":[[0.5520515701268055,1.75612781318558],[0.5822561730488417,1.7863308564477038]]},{"name":"lh_cryovial_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g01_m01_16","position":[-0.25404631354991825,-2.4493427254430546,0.71338606911949],"aabb_xy":[[-0.2617495042239953,-2.4570520961417928],[-0.2463431228758412,-2.4416333547443165]]},{"name":"lh_plastic_screw_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g02_m02_17","position":[-0.5731168437660995,-2.3615359187830096,0.71338606911949],"aabb_xy":[[-0.5952893707427503,-2.3837115859391322],[-0.5509443167894487,-2.339360251626886]]},{"name":"lh_syringe_filter_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g04_m01_18","position":[0.49004359679362586,-1.4145366943295017,0.71338606911949],"aabb_xy":[[0.472543597515539,-1.4318747943958476],[0.5075435960717127,-1.3971985942631557]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_19","position":[-0.06138375014680442,-2.474876698784755,0.71338606911949],"aabb_xy":[[-0.07146545722537789,-2.5548766966768692],[-0.05130204306823095,-2.39487670089264]]},{"name":"st_magnetic_stir_bar_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g01_m01_20","position":[0.642906646700675,-1.3597705636822077,0.71338606911949],"aabb_xy":[[0.6379506265157939,-1.3822705638843293],[0.6478626668855563,-1.337270563480086]]},{"name":"st_rubber_stopper_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g03_m02_21","position":[-0.5743029872491497,0.4193572789177642,0.71338606911949],"aabb_xy":[[-0.5914050652075179,0.40225047338649444],[-0.5572009092907816,0.43646408444903395]]},{"name":"lh_pcr_tube_strip_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g01_m02_22","position":[0.4985282030475968,-0.8527728880432548,0.71338606911949],"aabb_xy":[[0.461028201862804,-0.8571911107393152],[0.5360282042323896,-0.8483546653471942]]},{"name":"wc_evaporating_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_evaporating_dish/wc_evaporating_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_evaporating_dish_g01_m01_23","position":[0.6648645285419972,-1.7356306699808806,0.71338606911949],"aabb_xy":[[0.6072340596547262,-1.795630668907591],[0.7224949974292679,-1.6756306710541697]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_24","position":[0.438548589726528,-1.0805984498320609,0.71338606911949],"aabb_xy":[[0.35854859106964204,-1.0951033087563236],[0.518548588383414,-1.0660935909077982]]},{"name":"st_tubing_clamp_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m01_25","position":[-0.5167257591704466,-0.8536379499758624,0.71338606911949],"aabb_xy":[[-0.5542257606860782,-0.8648647229920075],[-0.4792257576548148,-0.8424111769597173]]},{"name":"st_rubber_stopper_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g02_m02_26","position":[-0.31603651260272003,-0.6179426870586906,0.71338606911949],"aabb_xy":[[-0.33383001953763647,-0.6357424326544882],[-0.2982430056678036,-0.6001429414628928]]},{"name":"lh_plastic_screw_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g03_m01_27","position":[0.4188196631380239,0.331505532778269,0.71338606911949],"aabb_xy":[[0.410783328436739,0.3234674134738522],[0.42685599783930867,0.3395436520826858]]},{"name":"st_straight_forceps_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g03_m01_28","position":[0.5518093956389976,-1.200636351819752,0.71338606911949],"aabb_xy":[[0.4718093951687816,-1.2089470594341005],[0.6318093961092135,-1.1923256442054035]]},{"name":"lh_microplate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g04_m02_29","position":[-0.28930485209325724,1.1544009716278048,0.71338606911949],"aabb_xy":[[-0.353304852353728,1.1093921722748765],[-0.2253048518327864,1.1994097709807325]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_30","position":[0.3393471979978895,1.037527078083882,0.71338606911949],"aabb_xy":[[0.27775643877389666,0.9735270799748352],[0.4009379572218823,1.101527076192929]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.699914688553549,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8582.png","name":"8582"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8582.png","name":"8582"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/9101.png","name":"9101"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1617.png","name":"1617"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7714.png","name":"7714"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6762.png","name":"6762"}]},"visual":{"folder_name":"vis_bright_warm","config_idx":8,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/empty_warehouse_01_1k.hdr","texture_name":"empty_warehouse_01_1k.hdr","intensity":620.343068705738,"rotation_z_degrees":92.57333239447094,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.012275431600723984,-0.0032202099143958315,-0.0035474662458757356]},{"name":"camera_2","offset_m":[0.018145055839074994,0.0012799189033109587,-0.013442588542829426]},{"name":"camera_3","offset_m":[0.01607501472833946,-0.014224101177103234,-0.018521951183300477]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001943236201663534,0.0013204853948885118,0.0004245998834733083],"end_effector_yaw_offset_degrees":-0.8385216433204072},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001907011503801381,-0.0017992665331852825,0.0017195091995159673],"end_effector_yaw_offset_degrees":-0.4375926105871728},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.0019044327753059346,-0.0011978058360930396,-0.0005479967245886051],"end_effector_yaw_offset_degrees":0.005806058700310812},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[9.58271052134271e-05,-0.000196195776066224,-0.001290658831469587],"end_effector_yaw_offset_degrees":-0.8316802921042319},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.0016644750692697344,-0.0008939259196623106,-0.0015868792516165358],"end_effector_yaw_offset_degrees":-0.30566020796674387},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0005869851115669787,0.0005387378177223747,0.0019566307162175913],"end_effector_yaw_offset_degrees":0.9757078633001204}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003522635523424045,-0.002474739965736429],"position_m":[0.316477364476576,0.3506252600342636,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.002725162325480697,0.0013279253139069384],"position_m":[0.1772748376745193,-0.03227207468609306,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.0023452285801084803,-0.004934686467586809],"position_m":[0.2696547714198915,-0.37223468646758684,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0037451921796566147,0.0010994314433923746],"position_m":[0.34224519217965665,0.10959943144339238,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"9e5735174b132090e3084d085acb1d5a00c2bdb494347e63e199eb05ff3178e9","episode_index":97,"episode_name":"episode_0097"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0097.h5","success":true,"combo_key":"hdri_empty_warehouse_01_1k/light_008_bright_warm/scene_lab_003/tex_background_textures_8582/tex_ceiling_textures_6762/tex_floor_textures_7714/tex_table_textures_9101/tex_wall_textures_1617","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4449973622093035958,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4449973622093035958,"visual_seed":4449973622093035958,"scene_id":"lab_003","finished_at":"2026-09-06T21:42:33"} +{"episode_id":"ep_000097","started_at":"2026-09-06T21:42:40","dimensions":{"distractor":{"count":27,"items":[{"name":"st_tubing_clamp_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g01_m01_0","position":[-0.45008925553062173,-1.6916178820197754,0.71338606911949],"aabb_xy":[[-0.4875892563226172,-1.6979857229779654],[-0.4125892547386263,-1.685250041061585]]},{"name":"lh_reagent_reservoir_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g04_m01_1","position":[0.5552611979285729,-0.0846644844947484,0.71338606911949],"aabb_xy":[[0.5339831897851006,-0.14966448682082145],[0.5765392060720451,-0.019664482168675335]]},{"name":"lh_pcr_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g02_m01_2","position":[-0.5096101120103458,-0.9670296912979981,0.71338606911949],"aabb_xy":[[-0.5736101092959943,-1.008536410250842],[-0.445610114724697,-0.9255229723451541]]},{"name":"st_curved_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g04_m02_3","position":[0.6556201796784746,0.6182845543176145,0.71338606911949],"aabb_xy":[[0.6447144035909119,0.5382845579187854],[0.6665259557660373,0.6982845507164437]]},{"name":"lh_cryovial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g02_m02_4","position":[-0.34408813072909394,1.0984779105320945,0.71338606911949],"aabb_xy":[[-0.3517123988192722,1.0908446869955508],[-0.3364638626389157,1.1061111340686383]]},{"name":"wc_stemless_funnel_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m01_5","position":[0.4229064530019069,-2.1922873515237185,0.71338606911949],"aabb_xy":[[0.37292764449159094,-2.2422873515294373],[0.4728852615122227,-2.1422873515179996]]},{"name":"lh_deep_well_plate_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g02_m01_6","position":[-0.4709952061004292,-1.4800003635492076,0.71338606911949],"aabb_xy":[[-0.5349952032125349,-1.5290327333436184],[-0.40699520898832353,-1.4309679937547972]]},{"name":"lh_cell_culture_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g04_m02_7","position":[-0.4962478994542734,-1.8827525577694457,0.71338606911949],"aabb_xy":[[-0.5578386586782663,-1.9467525558784928],[-0.4346571402302807,-1.818752559660399]]},{"name":"st_hose_barb_t_connector_g02_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g02_m01_8","position":[-0.2945241585687064,-1.6403747572219682,0.71338606911949],"aabb_xy":[[-0.32952415854520223,-1.6498393732695849],[-0.25952415859221056,-1.6309101411743516]]},{"name":"lh_reagent_reservoir_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g03_m01_9","position":[0.5053897331038615,0.6300225813897775,0.71338606911949],"aabb_xy":[[0.44038973210336096,0.5792362162351026],[0.570389734104362,0.6808089465444525]]},{"name":"lh_reagent_reservoir_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g01_m02_10","position":[0.20826782554668333,1.2757882657636723,0.71338606911949],"aabb_xy":[[0.1432678269896105,1.2460357323497897],[0.27326782410375616,1.305540799177555]]},{"name":"wc_crystallizing_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m01_11","position":[-0.334830812707205,-2.4870365690402565,0.71338606911949],"aabb_xy":[[-0.41483081011079836,-2.567029140238439],[-0.2548308153036115,-2.4070439978420732]]},{"name":"lh_cell_culture_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cell_culture_plate/lh_cell_culture_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cell_culture_plate_g01_m02_12","position":[0.19912509538998346,-0.867211134403439,0.71338606911949],"aabb_xy":[[0.13512509398199277,-0.9190000859273636],[0.2631250967979741,-0.8154221828795142]]},{"name":"lh_pcr_tube_strip_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube_strip/lh_pcr_tube_strip_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_strip_g03_m01_13","position":[0.25233296036297537,0.5614724615115465,0.71338606911949],"aabb_xy":[[0.21483296193957502,0.5483082475437159],[0.2898329587863757,0.5746366754793771]]},{"name":"lh_scintillation_vial_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g04_m01_14","position":[-0.22190382062477204,-1.5430048968794674,0.71338606911949],"aabb_xy":[[-0.2351347661594533,-1.5562323159014666],[-0.20867287509009072,-1.5297774778574678]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_15","position":[-0.010942214779384729,0.7772098347141938,0.71338606911949],"aabb_xy":[[-0.01798252471292172,0.6972098353145225],[-0.003901904845847736,0.8572098341138654]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_16","position":[-0.5583616217033198,-2.134777935310479,0.71338606911949],"aabb_xy":[[-0.5643986347039847,-2.140804636379427],[-0.5523246087026552,-2.128751234241531]]},{"name":"lh_cryovial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_cryovial/lh_cryovial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_cryovial_g04_m02_17","position":[-0.535169061722783,-1.1739467610607346,0.71338606911949],"aabb_xy":[[-0.5455806204032667,-1.1792924943966328],[-0.5247575030422993,-1.168601027724836]]},{"name":"st_straight_forceps_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m02_18","position":[0.2803074574291864,-0.9868797427552316,0.71338606911949],"aabb_xy":[[0.20030745877230038,-1.0013846016794945],[0.3603074560860724,-0.9723748838309688]]},{"name":"wc_watch_glass_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g02_m01_19","position":[-0.23809114646593343,-2.071334799026082,0.71338606911949],"aabb_xy":[[-0.27240742364055137,-2.1213347989992597],[-0.2037748692913155,-2.0213347990529043]]},{"name":"wc_glass_petri_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g04_m01_20","position":[-0.6093862556913869,-0.0364041131964834,0.71338606911949],"aabb_xy":[[-0.6643817335120462,-0.09140411463039033],[-0.5543907778707274,0.01859588823742353]]},{"name":"st_rubber_stopper_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_rubber_stopper/st_rubber_stopper_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_rubber_stopper_g04_m01_21","position":[0.5671349845530618,1.3855774664412266,0.71338606911949],"aabb_xy":[[0.5519628152714284,1.3704086095130232],[0.5823071538346951,1.40074632336943]]},{"name":"st_straight_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g01_m01_22","position":[-0.5151097672698643,1.7886010391469997,0.71338606911949],"aabb_xy":[[-0.5951097683429847,1.7788229928096153],[-0.435109766196744,1.7983790854843842]]},{"name":"wc_watch_glass_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g04_m02_23","position":[-0.45023910593403826,-0.0782139256775527,0.71338606911949],"aabb_xy":[[-0.500239105510373,-0.12819450462965865],[-0.4002391063577036,-0.02823334672544675]]},{"name":"st_magnetic_stir_bar_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_magnetic_stir_bar/st_magnetic_stir_bar_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_magnetic_stir_bar_g03_m01_24","position":[-0.09407843129571691,0.7341842854732739,0.71338606911949],"aabb_xy":[[-0.11657485272958099,0.7116842856665264],[-0.07158200986185279,0.7566842852800213]]},{"name":"st_lab_spoon_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m02_25","position":[-0.49869567618748656,0.15845805329495688,0.71338606911949],"aabb_xy":[[-0.5836956748795612,0.126472189900078],[-0.41369567749541186,0.1904439166898357]]},{"name":"lh_plastic_petri_dish_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g02_m01_26","position":[0.6580545108896327,1.5121453175810182,0.71338606911949],"aabb_xy":[[0.6080552357211967,1.462145316305071],[0.708053786058069,1.5621453188569654]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6931791408585785,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8832.png","name":"8832"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8832.png","name":"8832"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1333.png","name":"1333"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/950.png","name":"950"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8767.png","name":"8767"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7707.png","name":"7707"}]},"visual":{"folder_name":"vis_dim_cool","config_idx":3,"intensity_mode":"scale","intensity":{"name":"dim","value":0.75},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/artist_workshop_1k.hdr","texture_name":"artist_workshop_1k.hdr","intensity":839.9268871654407,"rotation_z_degrees":247.02790235784897,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.008390091014819374,0.011763851874280643,-0.014645466695826791]},{"name":"camera_2","offset_m":[-0.00757804232880646,0.0011408202620859682,-0.01042377003545972]},{"name":"camera_3","offset_m":[-0.016297460217410586,-0.011883865393059705,0.004093549420221786]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.00029315324306030907,0.001202393790908608,0.0018473442324347545],"end_effector_yaw_offset_degrees":0.14550251223391641},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.001946037582868529,0.0008190355082314895,0.0014800222044773878],"end_effector_yaw_offset_degrees":0.9534687875534829},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.0005647981815248007,0.0006734641111562543,0.0010128630114366087],"end_effector_yaw_offset_degrees":0.8533204695470349},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0003115595228598599,0.001563431989200489,0.0003275353307362061],"end_effector_yaw_offset_degrees":-0.32535616709806603},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.00021936539007760695,-0.00022624387262458663,-4.740302051027025e-06],"end_effector_yaw_offset_degrees":0.0585964524573499},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0005387393355855471,-0.00010011971031084646,0.0012621054270345006],"end_effector_yaw_offset_degrees":0.40114665074715816}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[-0.003354752533282871,-0.002806815106075865],"position_m":[0.31664524746671713,0.35029318489392414,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[0.00028151936482647983,-0.004066782023146297],"position_m":[0.18028151936482648,-0.03766678202314629,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[-0.004290990518758046,0.004700554977291498],"position_m":[0.267709009481242,-0.3625994450227085,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0014003012308785139,0.0014348507462468903],"position_m":[0.33990030123087855,0.10993485074624688,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"bc93938d214b57ddf79e272bcde2c5b5446603dd9c0294df9ec70800883b9cb4","episode_index":98,"episode_name":"episode_0098"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0098.h5","success":true,"combo_key":"hdri_artist_workshop_1k/light_003_dim_cool/scene_lab_003/tex_background_textures_8832/tex_ceiling_textures_7707/tex_floor_textures_8767/tex_table_textures_1333/tex_wall_textures_950","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":768677230953005918,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":768677230953005918,"visual_seed":768677230953005918,"scene_id":"lab_003","finished_at":"2026-09-06T21:49:26"} +{"episode_id":"ep_000098","started_at":"2026-09-06T21:49:33","dimensions":{"distractor":{"count":34,"items":[{"name":"wc_stemless_funnel_g02_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g02_m01_0","position":[0.22978762925162466,-2.058244696492523,0.71338606911949],"aabb_xy":[[0.1797876288910586,-2.1082246837021255],[0.2797876296121907,-2.0082647092829196]]},{"name":"wc_crystallizing_dish_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g01_m02_1","position":[-0.324599910078343,-1.1166503309468332,0.71338606911949],"aabb_xy":[[-0.4045999122411055,-1.1966055145729768],[-0.2445999079155805,-1.0366951473206896]]},{"name":"lh_microcentrifuge_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microcentrifuge_tube/lh_microcentrifuge_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_microcentrifuge_tube_g03_m01_2","position":[0.6241057158385777,-0.5032477203771379,0.71338606911949],"aabb_xy":[[0.6128606602679597,-0.5144895181012331],[0.6353507714091954,-0.49200592265304255]]},{"name":"lh_pcr_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g04_m01_3","position":[0.18013630230197264,0.7446791215624118,0.71338606911949],"aabb_xy":[[0.1766956260619155,0.7408176885880473],[0.18357697854202984,0.7485405545367763]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_4","position":[-0.29497392304870684,1.120348462399793,0.71338606911949],"aabb_xy":[[-0.30690665741053497,1.1079663095919337],[-0.28304118868687883,1.1327306152076524]]},{"name":"wc_glass_petri_dish_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m01_5","position":[-0.4588413779578641,0.8268852164072382,0.71338606911949],"aabb_xy":[[-0.5138413771344537,0.7718955416322805],[-0.4038413787812746,0.8818748911821958]]},{"name":"lh_deep_well_plate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m02_6","position":[0.24455126882305955,1.4149921084937378,0.71338606911949],"aabb_xy":[[0.18055127239573768,1.3678224846716416],[0.30855126525038146,1.4621617323158345]]},{"name":"lh_scintillation_vial_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g03_m01_7","position":[-0.45270374805968505,-1.3985444769836886,0.71338606911949],"aabb_xy":[[-0.4826713049695107,-1.4285444772815743],[-0.4227361911498594,-1.3685444766858028]]},{"name":"lh_pcr_tube_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g01_m01_8","position":[-0.03556951479460568,-1.4045224023476097,0.71338606911949],"aabb_xy":[[-0.03948338799002821,-1.4132714177541665],[-0.03165564159918316,-1.395773386941053]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_9","position":[0.024597341830478903,-1.1283089538904711,0.71338606911949],"aabb_xy":[[0.007686609394137125,-1.1417811594830856],[0.04150807426682068,-1.1148367482978563]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_10","position":[-0.06642653041767799,-1.720198520318796,0.71338606911949],"aabb_xy":[[-0.15642652983604888,-1.7535740171629857],[0.023573469000692904,-1.6868230234746062]]},{"name":"lh_pcr_plate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m02_11","position":[-0.60237104411117,-1.4674078180229577,0.71338606911949],"aabb_xy":[[-0.6436755871749059,-1.5314078175910746],[-0.5610665010474339,-1.4034078184548404]]},{"name":"lh_specimen_cup_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g04_m02_12","position":[0.6940879658317776,1.6662936741973309,0.71338606911949],"aabb_xy":[[0.6662429290511704,1.635509175459019],[0.7219330026123847,1.6970781729356423]]},{"name":"wc_stemless_funnel_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g03_m01_13","position":[0.4475044545000346,-0.6904248583891404,0.71338606911949],"aabb_xy":[[0.39750944354058265,-0.7404248574247322],[0.4974994654594867,-0.6404248593535488]]},{"name":"lh_deep_well_plate_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_deep_well_plate/lh_deep_well_plate_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_deep_well_plate_g03_m01_14","position":[-0.5770625373642955,1.5956663190102511,0.71338606911949],"aabb_xy":[[-0.6410625346666418,1.5512998920423942],[-0.513062540061949,1.6400327459781077]]},{"name":"st_straight_forceps_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g04_m01_15","position":[0.15547592372738062,-1.399144339137067,0.71338606911949],"aabb_xy":[[0.1482321576811353,-1.4791443373406692],[0.16271968977362594,-1.3191443409334644]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_16","position":[0.42482351755399717,-1.7650182135843813,0.71338606911949],"aabb_xy":[[0.38832769692671837,-1.8015021560111386],[0.46131933818127585,-1.7285342711576235]]},{"name":"lh_microplate_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g01_m02_17","position":[-0.34061847979668114,-2.417240105499686,0.71338606911949],"aabb_xy":[[-0.40461848007065937,-2.467306205696974],[-0.2766184795227029,-2.367174005302398]]},{"name":"lh_bulk_pipette_tip_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_bulk_pipette_tip/lh_bulk_pipette_tip_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_bulk_pipette_tip_g04_m02_18","position":[-0.49144774587275947,-1.0441289508733937,0.71338606911949],"aabb_xy":[[-0.4974847588734243,-1.0501556519423423],[-0.48541073287209485,-1.0381022498044457]]},{"name":"st_cork_borer_set_g04_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m02_19","position":[0.5531699832051744,0.8833481689794116,0.71338606911949],"aabb_xy":[[0.463169979528256,0.821915762402307],[0.6431699868820924,0.9447805755565157]]},{"name":"st_luer_connector_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m01_20","position":[-0.11600528757137041,-0.6219180291827744,0.71338606911949],"aabb_xy":[[-0.12915653354265977,-0.6469180289394609],[-0.10285404160008106,-0.5969180294260878]]},{"name":"lh_plastic_petri_dish_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g03_m01_21","position":[0.4557640488320489,1.526916187983185,0.71338606911949],"aabb_xy":[[0.40594726936721415,1.4769161894988818],[0.5055808282968837,1.5769161864674885]]},{"name":"wc_crystallizing_dish_g04_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_crystallizing_dish/wc_crystallizing_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_crystallizing_dish_g04_m01_22","position":[-0.51422615897771,-1.9724911428735454,0.71338606911949],"aabb_xy":[[-0.5942261592513169,-2.0454406906992624],[-0.434226158704103,-1.899541595047829]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_23","position":[-0.6276654680193569,-0.99570973340672,0.71338606911949],"aabb_xy":[[-0.6611446352803979,-1.029188846777827],[-0.594186300758316,-0.9622306200356131]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_24","position":[0.5947420925893963,0.1262345363875781,0.71338606911949],"aabb_xy":[[0.5846603855108228,0.04623453849546341],[0.6048237996679697,0.2062345342796927]]},{"name":"wc_watch_glass_g03_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_watch_glass/wc_watch_glass_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_watch_glass_g03_m01_25","position":[0.6644130912598434,-1.8872283495559552,0.71338606911949],"aabb_xy":[[0.6144130899760032,-1.9372072039465773],[0.7144130925436831,-1.837249495165333]]},{"name":"lh_reagent_reservoir_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_reagent_reservoir/lh_reagent_reservoir_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_reagent_reservoir_g02_m02_26","position":[-0.3702309183691849,1.393062662382616,0.71338606911949],"aabb_xy":[[-0.40482200122323003,1.3280626620975844],[-0.3356398355151396,1.4580626626676465]]},{"name":"st_tubing_clamp_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g02_m02_27","position":[-0.222605617736712,-2.306971128765857,0.71338606911949],"aabb_xy":[[-0.23961571502676265,-2.323105617264131],[-0.20559552044666135,-2.290836640267583]]},{"name":"lh_plastic_petri_dish_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_petri_dish/lh_plastic_petri_dish_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_petri_dish_g04_m01_28","position":[-0.5948307374789795,-2.51927021321668,0.71338606911949],"aabb_xy":[[-0.6448238495881714,-2.5692702138908756],[-0.5448376253697876,-2.4692702125424844]]},{"name":"lh_syringe_filter_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_syringe_filter/lh_syringe_filter_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_syringe_filter_g01_m02_29","position":[0.6306509121701758,-2.2732715940699477,0.71338606911949],"aabb_xy":[[0.6131509119251263,-2.2907713819095137],[0.648150912415225,-2.25577180623038]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_30","position":[-0.5323464635346373,0.37742673038929775,0.71338606911949],"aabb_xy":[[-0.5429139431927362,0.3668817002762892],[-0.5217789838765382,0.3879717605023063]]},{"name":"lh_pcr_tube_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_tube/lh_pcr_tube_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_tube_g02_m02_31","position":[-0.481315294629574,-0.09707456479630983,0.71338606911949],"aabb_xy":[[-0.48689696626370277,-0.10957456461408532],[-0.47573362299544525,-0.08457456497853433]]},{"name":"wc_weighing_bottle_g01_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g01_m02_32","position":[0.6471297285549642,-0.86602113497752,0.71338606911949],"aabb_xy":[[0.6226161044579583,-0.8902857282795564],[0.6716433526519701,-0.8417565416754835]]},{"name":"wc_glass_petri_dish_g01_m01","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g01_m01_33","position":[-0.0018548315174962138,1.097724157323798,0.71338606911949],"aabb_xy":[[-0.04310364254741094,1.0427241578115802],[0.03939397951241851,1.1527241568360151]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.6995295772757931,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1611.png","name":"1611"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/2001.png","name":"2001"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/8665.png","name":"8665"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/6053.png","name":"6053"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1042.png","name":"1042"}]},"visual":{"folder_name":"vis_bright_cool","config_idx":11,"intensity_mode":"scale","intensity":{"name":"bright","value":1.25},"color":{"name":"cool","rgb":[0.85,0.9,1.0]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/photo_studio_01_1k.hdr","texture_name":"photo_studio_01_1k.hdr","intensity":707.8722724593805,"rotation_z_degrees":180.19884726612136,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[-0.014634295061975205,-0.007001262032879768,-0.01108124954130219]},{"name":"camera_2","offset_m":[-0.010632864419604924,0.011897400173838387,0.007942396204171955]},{"name":"camera_3","offset_m":[0.010573964053008984,-0.004857280553655698,-0.003293424769671628]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[-0.0008409641892869791,0.0011248502002842733,-0.00037299835885372715],"end_effector_yaw_offset_degrees":-0.6219019080649089},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[0.0015895968870498099,-5.008317214617668e-05,-0.00032885252239283247],"end_effector_yaw_offset_degrees":-0.9628284575783717},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[0.00018331947288485273,0.000141217346102911,-0.0009259655049404191],"end_effector_yaw_offset_degrees":-0.8494435470356474},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[-0.0012065094178921277,-0.001623228041493324,0.001915737085740131],"end_effector_yaw_offset_degrees":0.946087137209378},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[-0.0006643990544441714,0.0014452392320165046,0.00038341598338347644],"end_effector_yaw_offset_degrees":-0.19607242933911317},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[0.0011058390897664898,-0.0001683444374784111,0.0005343310007289311],"end_effector_yaw_offset_degrees":-0.5097437908579652}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.004906871626587654,0.0005290675065918096],"position_m":[0.32490687162658766,0.35362906750659184,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.004493153660148198,0.002395756603981611],"position_m":[0.1755068463398518,-0.031204243396018388,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.0015882269234083783,0.002140460802559455],"position_m":[0.2735882269234084,-0.36515953919744054,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[-0.003977107085128709,0.0015672969139314845],"position_m":[0.3345228929148713,0.11006729691393148,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"971fcae70c77e28264d603428361cd22db3018dc8c2522cf4979277882ecbb06","episode_index":99,"episode_name":"episode_0099"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0099.h5","success":true,"combo_key":"hdri_photo_studio_01_1k/light_011_bright_cool/scene_lab_003/tex_background_textures_1611/tex_ceiling_textures_1042/tex_floor_textures_6053/tex_table_textures_2001/tex_wall_textures_8665","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":4982936310300467597,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":4982936310300467597,"visual_seed":4982936310300467597,"scene_id":"lab_003","finished_at":"2026-09-06T21:56:39"} +{"episode_id":"ep_000099","started_at":"2026-09-06T21:56:46","dimensions":{"distractor":{"count":32,"items":[{"name":"st_lab_spoon_g03_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_lab_spoon/st_lab_spoon_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/st_lab_spoon_g03_m01_0","position":[-0.05076975453214416,0.9369817049234608,0.71338606911949],"aabb_xy":[[-0.07405159673027549,0.8519817036262326],[-0.027487912334012817,1.0219817062206886]]},{"name":"lh_multichannel_trough_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m02_1","position":[-0.3893215267959619,1.5094204130128435,0.71338606911949],"aabb_xy":[[-0.4593215294325482,1.4893155480169777],[-0.31932152415937554,1.5295252780087087]]},{"name":"lh_microplate_g03_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_microplate/lh_microplate_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_microplate_g03_m02_2","position":[-0.020088114809656,-0.8505234932077219,0.71338606911949],"aabb_xy":[[-0.06956853602361479,-0.9145234911205737],[0.029392306404302793,-0.7865234952948701]]},{"name":"vis_liquid_beaker_large","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_large/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_large_3","position":[0.30440977453081597,1.1148019726441043,0.71338606911949],"aabb_xy":[[0.2673756651027562,1.0804247653103947],[0.34144388395887565,1.1491791799778135]]},{"name":"st_tubing_clamp_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_tubing_clamp/st_tubing_clamp_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_tubing_clamp_g04_m01_4","position":[-0.1570895514156072,0.5843282212948182,0.71338606911949],"aabb_xy":[[-0.1908651106063002,0.5702897260816532],[-0.12331399222491427,0.5983667165079832]]},{"name":"st_luer_connector_g01_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g01_m02_5","position":[-0.5531595915273341,0.7440570868834242,0.71338606911949],"aabb_xy":[[-0.578159591459852,0.7371744186625009],[-0.5281595915948162,0.7509397551043475]]},{"name":"lh_sample_storage_tube_g03_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g03_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g03_m01_6","position":[0.04455284782811586,-1.084341243405026,0.71338606911949],"aabb_xy":[[0.03262011346628779,-1.0967233962128853],[0.05648558218994393,-1.0719590905971665]]},{"name":"st_test_tube_holder_g03_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g03_m02_7","position":[-0.18549543172574068,-0.37762163428608986,0.71338606911949],"aabb_xy":[[-0.27549543114411157,-0.4109971311302796],[-0.09549543230736979,-0.34424613744190014]]},{"name":"st_hose_barb_t_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_hose_barb_t_connector/st_hose_barb_t_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_hose_barb_t_connector_g04_m01_8","position":[-0.547703164307456,-0.09138231786524731,0.71338606911949],"aabb_xy":[[-0.5827031634374117,-0.09712753894091142],[-0.5127031651775004,-0.0856370967895832]]},{"name":"st_cork_borer_set_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_cork_borer_set/st_cork_borer_set_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_cork_borer_set_g04_m01_9","position":[0.297021854626604,0.7753549112656595,0.71338606911949],"aabb_xy":[[0.20702185789099375,0.7221714479483649],[0.3870218513622142,0.8285383745829539]]},{"name":"st_luer_connector_g04_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_luer_connector/st_luer_connector_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/st_luer_connector_g04_m01_10","position":[-0.5164180154056031,1.6631720337282014,0.71338606911949],"aabb_xy":[[-0.5217555910716076,1.6381720327990617],[-0.5110804397395985,1.6881720346573412]]},{"name":"vis_liquid_conical_flask_04","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_04/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_04_11","position":[-0.5908587820405723,-2.203202251430158,0.71338606911949],"aabb_xy":[[-0.6251556930583128,-2.2374991376400994],[-0.5565618710228316,-2.168905365220217]]},{"name":"lh_scintillation_vial_g02_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_scintillation_vial/lh_scintillation_vial_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_scintillation_vial_g02_m02_12","position":[-0.1437662646736364,-1.7189843647979446,0.71338606911949],"aabb_xy":[[-0.16405056739703516,-1.7392669899406532],[-0.12348196195023765,-1.6987017396552355]]},{"name":"wc_stemless_funnel_g04_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_stemless_funnel/wc_stemless_funnel_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_stemless_funnel_g04_m02_13","position":[0.33004620564448883,-1.1032830084080556,0.71338606911949],"aabb_xy":[[0.28004620699856764,-1.153202552067518],[0.38004620429041003,-1.0533634647485932]]},{"name":"lh_pcr_plate_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m01_14","position":[-0.1850823807360562,-0.5533811652614764,0.71338606911949],"aabb_xy":[[-0.23036099561720544,-0.6173811646096601],[-0.13980376585490692,-0.4893811659132927]]},{"name":"st_test_tube_holder_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_test_tube_holder/st_test_tube_holder_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_test_tube_holder_g02_m02_15","position":[-0.02277768459485363,0.7071955566219978,0.71338606911949],"aabb_xy":[[-0.11277768318932357,0.6909449703085768],[0.06722231399961631,0.7234461429354189]]},{"name":"lh_dropper_bottle_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g01_m01_16","position":[0.6633386684245544,0.7045119578759107,0.71338606911949],"aabb_xy":[[0.6466615324314589,0.6878120339019804],[0.6800158044176499,0.721211881849841]]},{"name":"st_straight_forceps_g02_m02","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_straight_forceps/st_straight_forceps_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/st_straight_forceps_g02_m02_17","position":[0.29503401842290655,0.5809629684022592,0.71338606911949],"aabb_xy":[[0.2849523113443331,0.5009629705101445],[0.30511572550148003,0.6609629662943738]]},{"name":"lh_plastic_screw_vial_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_plastic_screw_vial/lh_plastic_screw_vial_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_plastic_screw_vial_g04_m02_18","position":[-0.21661521985670967,0.6877057382136096,0.71338606911949],"aabb_xy":[[-0.23217098926697496,0.6721553049692024],[-0.20105945044644444,0.7032561714580168]]},{"name":"vis_liquid_conical_flask_02","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_conical_flask_02/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_conical_flask_02_19","position":[0.13694077965536977,-1.8423677267490262,0.71338606911949],"aabb_xy":[[0.10346161239432883,-1.8758468401201334],[0.17041994691641071,-1.8088886133779194]]},{"name":"lh_multichannel_trough_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_multichannel_trough/lh_multichannel_trough_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_multichannel_trough_g02_m01_20","position":[0.6058527018039384,-2.3466907719250365,0.71338606911949],"aabb_xy":[[0.5358526999951929,-2.368044540689224],[0.6758527036126838,-2.325337003160849]]},{"name":"lh_pcr_plate_g04_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g04_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g04_m02_21","position":[-0.550740195770159,-1.6734315825039991,0.71338606911949],"aabb_xy":[[-0.6147401989887968,-1.7201546944030075],[-0.4867401925515211,-1.6267084706049908]]},{"name":"st_curved_forceps_g01_m01","category":"supports_tools_consumables","usd_path":"/data/lys/assets/usd/assets/supports_tools_consumables/st_curved_forceps/st_curved_forceps_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/st_curved_forceps_g01_m01_22","position":[0.4756388691329212,-0.6874944613963136,0.71338606911949],"aabb_xy":[[0.46859855919938426,-0.7674944607959853],[0.48267917906645824,-0.6074944619966424]]},{"name":"wc_glass_petri_dish_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g02_m02_23","position":[-0.1297995211401406,-1.195419608531185,0.71338606911949],"aabb_xy":[[-0.18479273247727734,-1.2504196088699788],[-0.07480630980300383,-1.1404196081923916]]},{"name":"lh_sample_storage_tube_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g04_m01_24","position":[0.6617354106327482,0.008420329705344454,0.71338606911949],"aabb_xy":[[0.6511679309746492,-0.002124700407664104],[0.6723028902908472,0.01896535981835301]]},{"name":"lh_dropper_bottle_g04_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_dropper_bottle/lh_dropper_bottle_g04_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_dropper_bottle_g04_m01_25","position":[0.3739048517187,-0.7120748160731629,0.71338606911949],"aabb_xy":[[0.3569941192823582,-0.7255470216657774],[0.39081558415504175,-0.6986026104805484]]},{"name":"lh_sample_storage_tube_g01_m02","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_sample_storage_tube/lh_sample_storage_tube_g01_m02/asset.usdc","prim_path":"/World/AllDistractors/lh_sample_storage_tube_g01_m02_26","position":[-0.07934904055577341,-1.4069650870134105,0.71338606911949],"aabb_xy":[[-0.09279556718981674,-1.4204349386665018],[-0.06590251392173008,-1.3934952353603196]]},{"name":"lh_pcr_plate_g01_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_pcr_plate/lh_pcr_plate_g01_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_pcr_plate_g01_m01_27","position":[-0.5351727935328356,0.29681565057340764,0.71338606911949],"aabb_xy":[[-0.5991727939103693,0.24707038372259538],[-0.471172793155302,0.3465609174242199]]},{"name":"wc_weighing_bottle_g02_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_weighing_bottle/wc_weighing_bottle_g02_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_weighing_bottle_g02_m02_28","position":[0.6158367773929172,-0.7782249432771084,0.71338606911949],"aabb_xy":[[0.5929210645078673,-0.8011292404135322],[0.6387524902779671,-0.7553206461406852]]},{"name":"lh_specimen_cup_g02_m01","category":"liquid_handling_plastics","usd_path":"/data/lys/assets/usd/assets/liquid_handling_plastics/lh_specimen_cup/lh_specimen_cup_g02_m01/asset.usdc","prim_path":"/World/AllDistractors/lh_specimen_cup_g02_m01_29","position":[-0.6171306814618207,-1.0156260090120002,0.71338606911949],"aabb_xy":[[-0.6536265020890994,-1.0521099514387577],[-0.580634860834542,-0.9791420665852426]]},{"name":"vis_liquid_beaker_medium","category":"visual_labware","usd_path":"/data/lys/assets/usd/assets/visual_labware/vis_liquid_beaker_medium/asset.usdc","prim_path":"/World/AllDistractors/vis_liquid_beaker_medium_30","position":[-0.5431498496550241,-0.6801894802521429,0.71338606911949],"aabb_xy":[[-0.5804811261802667,-0.7148425350469951],[-0.5058185731297815,-0.6455364254572906]]},{"name":"wc_glass_petri_dish_g03_m02","category":"wet_chemistry_glassware","usd_path":"/data/lys/assets/usd/assets/wet_chemistry_glassware/wc_glass_petri_dish/wc_glass_petri_dish_g03_m02/asset.usdc","prim_path":"/World/AllDistractors/wc_glass_petri_dish_g03_m02_31","position":[0.29425569723701805,-2.242702165672842,0.71338606911949],"aabb_xy":[[0.23925569903527324,-2.2832241322992792],[0.3492556954387629,-2.202180199046404]]}],"placement_rect":{"x":[-0.7350872573898293,0.7649158099123837],"y":[-2.627389296011566,1.872611916411424]},"table_edge_margin":0.04,"protection_circle":{"center_xy":[-0.27000001072883606,0.0],"radius":0.7040945926960004,"clip_min_x":0.0}},"scene_appearance":{"applied":true,"detail":[{"group":"background_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7087.png","name":"7087"},{"group":"background_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7087.png","name":"7087"},{"group":"table_textures","target":"/World/table/surface/mesh","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/5837.png","name":"5837"},{"group":"wall_textures","target":"/World/lab_015/mesh_003","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1226.png","name":"1226"},{"group":"floor_textures","target":"/World/lab_015/mesh_000","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/1222.png","name":"1222"},{"group":"ceiling_textures","target":"/World/lab_015/top/mesh_002","kind":"texture","value":"/data/lys/assets/robotwin2/background_texture/seen/7459.png","name":"7459"}]},"visual":{"folder_name":"vis_normal_warm","config_idx":4,"intensity_mode":"scale","intensity":{"name":"normal","value":1.0},"color":{"name":"warm","rgb":[1.0,0.85,0.7]},"stats":{"lights":17,"intensity_hits":17,"color_hits":17}},"hdri":{"texture":"/data/lys/8_28ur5e采集数据/RoboGenesis/sim_resources/hdri/polyhaven/studio_small_08_1k.hdr","texture_name":"studio_small_08_1k.hdr","intensity":508.8490538438265,"rotation_z_degrees":87.1054381437766,"diffuse":1.0,"specular":0.12,"normalize":true,"texture_format":"latlong","prim_path":"/World/LabHDRI/DomeLight"},"camera_pose":{"offset_range_m":0.02,"axes":["x","y","z"],"cameras":[{"name":"camera_1","offset_m":[0.011049496076674319,-0.005381186102222473,0.004141623700854299]},{"name":"camera_2","offset_m":[-0.016191301130806267,-0.00984838620335192,-0.0012454459172151072]},{"name":"camera_3","offset_m":[-0.010752186019610557,0.011021752147199436,0.008704965236629975]}]},"trajectory":{"enabled":true,"waypoint_offset_range_m":0.002,"end_effector_yaw_offset_range_degrees":1.0,"steps":[{"step_index":0,"skill":"pick","target_object":"beaker_b","waypoint_offset_m":[0.001054335701973628,0.0018314673067396843,-0.00015410748525272852],"end_effector_yaw_offset_degrees":-0.8056554057406842},{"step_index":1,"skill":"pour","target_object":"beaker_a","waypoint_offset_m":[-0.0008392515900446842,0.0010726642386430832,0.00020206160790600019],"end_effector_yaw_offset_degrees":0.18527484246467574},{"step_index":2,"skill":"place","target_object":"beaker_b","waypoint_offset_m":[-0.001695642470178595,0.0007562360561506106,0.0007051299166717824],"end_effector_yaw_offset_degrees":0.3339382971992175},{"step_index":3,"skill":"pick","target_object":"beaker_a","waypoint_offset_m":[0.0007907779567226728,0.0012220252747994053,0.0011759800646520173],"end_effector_yaw_offset_degrees":0.2999768514065868},{"step_index":4,"skill":"place","target_object":"heater_platform","waypoint_offset_m":[0.00172213007495067,0.0002861355872107933,0.00024753100146483525],"end_effector_yaw_offset_degrees":-0.10768433857631998},{"step_index":5,"skill":"press","target_object":"heat_button","waypoint_offset_m":[-0.0012462863633951797,-0.0011785475326571682,-0.00011007085220199461],"end_effector_yaw_offset_degrees":-0.3662267802335655}]}},"meta":{"task":"lab3_heat_2beaker_s06_polplr_htc_00033","task_object_position_randomization":{"enabled":true,"xy_offset_range_m":0.005,"objects":{"beaker_a":{"sampled_offset_m":[0.0016614380009622124,-0.003774721955317842],"position_m":[0.3216614380009622,0.34932527804468216,0.7774145980897915],"position_frame":"world"},"beaker_b":{"sampled_offset_m":[-0.0005369184198441715,0.0015517349086745184],"position_m":[0.1794630815801558,-0.03204826509132548,0.7730800627579277],"position_frame":"world"},"heat_device":{"sampled_offset_m":[0.004256141327110494,-0.0022378630628261988],"position_m":[0.2762561413271105,-0.3695378630628262,0.7674890431422514],"position_frame":"world"},"inspection_platform":{"sampled_offset_m":[0.0020601130458748748,0.0027149683613551115],"position_m":[0.3405601130458749,0.11121496836135511,0.7158860691194898],"position_frame":"world"}}},"task_island_state_digest":"448e9a30819679d440af115ebcd4d3425544b0bdd2d85477096d1d9a6ae2da02","episode_index":100,"episode_name":"episode_0100"},"hdf5_path":"ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/dataset/episode_0100.h5","success":true,"combo_key":"hdri_studio_small_08_1k/light_004_normal_warm/scene_lab_003/tex_background_textures_7087/tex_ceiling_textures_7459/tex_floor_textures_1222/tex_table_textures_5837/tex_wall_textures_1226","seeds":{"action_seed":2795588802749883146,"physical_seed":2289185594570977662,"visual_seed":2338916645909763879,"layout_id":"layout_00033","physical_randomization_enabled":true},"episode_seed":2338916645909763879,"visual_seed":2338916645909763879,"scene_id":"lab_003","finished_at":"2026-09-06T22:03:44"} diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/resolved_config.yaml b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/resolved_config.yaml new file mode 100644 index 0000000000000000000000000000000000000000..48dab94071e84426392f4a648d035b0c37161a7d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/resolved_config.yaml @@ -0,0 +1,318 @@ +name: lab3_heat_2beaker_s06_polplr_htc_00033 +task_type: workflow +controller_type: workflow +mode: collect +usd_path: sim_resources/chemistry_lab/lab_003/lab_003.usd +max_episodes: 100 +infer: + type: local + obs_names: + camera_1_rgb: camera_1_rgb + camera_2_rgb: camera_2_rgb + policy_model_path: '' + policy_config_path: '' + normalizer_path: '' + host: 127.0.0.1 + port: 8000 + n_obs_steps: 1 + timeout: 30 + max_retries: 3 +task: + max_steps: 14000 +workflow: + table_prim_path: /World/table + language_instruction: Pick up beaker b from home. Pour beaker b into beaker a and + return it upright. Place beaker b at home. Pick up beaker a from home. Place beaker + a on the heater platform. Press the heater button to start heating. + layout_id: layout_00033 + reproducibility: + enabled: true + layout_id: layout_00033 + action_seed: 2795588802749883146 + step_seeds: + - 6816342363077730166 + - 4358494381448953216 + - 412513956277572572 + - 5816647056012353206 + - 7886615218741371022 + - 6882756593071824614 + strict_task_state: false + allow_physical_randomization: true + verify_action_trace: false + scene_objects: + - name: beaker_a + path: /World/beaker_2 + position_range: + x: + - 0.32 + - 0.32 + 'y': + - 0.3531 + - 0.3531 + z: + - 0.0 + - 0.0 + role: source + - name: beaker_b + path: /World/target_beaker + position_range: + x: + - 0.18 + - 0.18 + 'y': + - -0.0336 + - -0.0336 + z: + - 0.0 + - 0.0 + role: source + - name: inspection_platform + path: /World/target_plat + position_range: + x: + - 0.3385 + - 0.3385 + 'y': + - 0.1085 + - 0.1085 + z: + - 0.0 + - 0.0 + role: placement_target + - name: heat_device + path: /World/heat_device + position_range: + x: + - 0.272 + - 0.272 + 'y': + - -0.3673 + - -0.3673 + z: + - 0.0 + - 0.0 + - name: heater_platform + path: /World/heat_device/heat_device/heat_device/plat + parent_object: heat_device + role: placement_target + - name: heat_button + path: /World/heat_device/button + parent_object: heat_device + steps: + - skill: pick + target_object: beaker_b + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.25 + gripper_distances: 0.019 + reset_at_center: false + require_phase_convergence: false + lock_target_position: false + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + hold_grasp_pose_until_close: false + - skill: pour + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.006 + - 0.002 + - 0.012 + - 0.01 + - 0.009 + - 0.01 + pour_speed: -1.5 + source_name: beaker + approach_xy_threshold: 0.08 + tilt_position_threshold: 0.04 + height_range_1: + - 0.3 + - 0.4 + height_range_2: + - 0.2 + - 0.2 + position_only: false + tilt_strategy: wrist_velocity + position_threshold: 0.015 + post_return_recenter: true + lock_target_position: true + held_gripper_distances: 0.019 + - skill: place + target_object: beaker_b + target_key: beaker_b_initial_position + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.01 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.0 + retreat_height: 0.15 + retreat_xy: 0.15 + position_threshold: 0.015 + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: pick + target_object: beaker_a + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.004 + - 0.004 + - 0.01 + - 0.04 + - 0.04 + - 0.006 + - 0.04 + pre_offset_x: 0.05 + pre_offset_z: 0.05 + after_offset_z: 0.4 + gripper_distances: 0.018 + reset_at_center: false + require_phase_convergence: false + lock_target_position: true + position_only: false + gripper_control_mode: position + gripper_control_params: + smooth_close: true + pickz_offset: -0.01 + - skill: place + target_object: heater_platform + params: + end_effector_euler: + - 0 + - 90 + - 30 + events_dt: + - 0.005 + - 0.01 + - 0.08 + - 0.02 + - 0.01 + - 0.1 + pre_place_z: 0.2 + place_offset_z: 0.05 + target_z_offset: 0.045 + retreat_height: 0.15 + retreat_xy: 0.15 + keep_gripper_closed_until_release: true + release_gripper_control_mode: position + release_gripper_position_gap: 0.04 + - skill: press + target_object: heat_button + params: + end_effector_euler: + - 0 + - 90 + - 10 + events_dt: + - 0.004 + - 0.02 + - 0.01 + - 0.02 + - 0.01 + - 0.02 + press_distance: 0.04 + gripper_gap: 0.0 + lock_target_position: true + initial_offset_z: 0.2 + press_z_tcp_offset: 0.025 + position_threshold: 0.01 + recreate_motion_controllers_on_reset: true +cameras: +- prim_path: /World/Camera1 + name: camera_1 + translation: + - 2.129903 + - 0.0 + - 2.075001 + resolution: + - 512 + - 512 + focal_length: 3.5 + orientation: + - 0.61237 + - 0.35355 + - 0.35355 + - 0.61237 + image_type: rgb +- prim_path: /World/Camera2 + name: camera_2 + translation: + - 0.1 + - 0.0 + - 2.65 + resolution: + - 512 + - 512 + focal_length: 2.825 + orientation: + - 0.70711 + - 0 + - 0 + - -0.70711 + image_type: rgb +- prim_path: /World/Camera3 + name: camera_3 + translation: + - 0.2 + - -3.01678 + - 1.16281 + resolution: + - 512 + - 512 + focal_length: 4 + orientation: + - 0.7681 + - 0.63858 + - -0.03028 + - -0.03642 + image_type: rgb + track_end_effector: true +robot: + type: ur5e + position: + - -0.27 + - 0.0 + - 0.71 + gripper_contact_profile: pour_torsional +collector: + type: default + compression: gzip +multi_run: + run_dir: outputs/ur5e_collection_100_randomized_full_scene_c2wide_20260830/runs/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033 +motion_controller: ik_servo +max_consecutive_failures: 20 +video: + playback_speed: 1 + render_every_n_steps: 3 diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_0_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_0_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6e448a97360060900cd447a8073c3280c4abc023 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_0_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 0, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20342428939224552, + -0.03267666126572389, + 0.9955391702505907 + ], + "current_z": 0.9955391702505907, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1389527224466699, + "gripper_z": 0.9986873596778331, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19850507709830437, + -0.03744105595260086, + 0.9986873596778331 + ], + "object_minus_gripper": [ + 0.004919212293941155, + 0.00476439468687697, + -0.003148189427242376 + ], + "object_to_gripper_xy": 0.006848219208320022, + "object_to_gripper_z": -0.003148189427242376, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20342428939224552, + -0.056947283692686715, + 0.9955391702505907 + ], + "finger_b": [ + 0.19172379231718148, + -0.03267666126572389, + 0.9955391702505907 + ], + "finger_midpoint": [ + 0.1975740408547135, + -0.044811972479205306, + 0.9955391702505907 + ], + "object_minus_finger_midpoint": [ + 0.005850248537532021, + 0.012135311213481416, + 0.0 + ], + "finger_gap": 0.026943732940997115, + "fingertip_max_gap": 0.09108845871340968, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013471866470498561, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955391702505907, + "object_top_z": 1.0409273308539018, + "finger_top_clearance": 0.04538816060331108, + "fingertip_min_top_clearance": 0.01361644818099334, + "object_projection_between_fingers": 0.8114211016650744, + "object_to_finger_line_xy": 0.010539680872673944, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04804422935670484, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.9648725974524389, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33611548252131723, + 0.3514893228111592, + 0.7611065514473895 + ], + "gripper_position": [ + 0.32949611482520585, + 0.3157035019815984, + 1.0173590112736477 + ], + "target_minus_gripper": [ + 0.006619367696111378, + 0.03578582082956078, + -0.2562524598262582 + ], + "held_position": [ + 0.3345110424382718, + 0.3202707753909727, + 1.014071966274405 + ], + "held_minus_target": [ + -0.0016044400830454442, + -0.031218547420186482, + 0.2529654148270156 + ], + "held_minus_gripper": [ + 0.005014927613065934, + 0.004567273409374295, + -0.0032870449992425943 + ], + "xy_dist": 0.03639287019653367, + "held_xy_dist": 0.03125974937529914, + "held_gripper_dist": 0.00753751618156236, + "max_held_gripper_dist": 0.007541982570828799, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065514473895, + "held_z": 1.014071966274405, + "required_height": 0.7911065514473895, + "gripper_z": 1.0173590112736477, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20322195767962, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6572305594616256, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.217191677836259, + "max_source_tilt_deg": 89.69120345199875, + "source_upright_tilt_deg": 2.1659873646188874, + "max_source_upright_tilt_deg": 89.93682317883739, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.217191677836259, + "source_upright_return_tilt_deg": 2.1659873646188874, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.24374162239282e-08, + "max_target_xy_drift": 1.1021500016267939e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.03956468065868831, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 8.840577721688402e-05, + "max_target_tilt_deg": 0.0001205666242092572, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3361, + 0.3515, + 0.7611 + ], + "controller_target_position": [ + 0.3361, + 0.3515, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + -0.0008, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3368, + 0.3253, + 1.0277 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0663, + 0.0639, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006505731071727808, + -0.000768103244872676, + 0.0011425369666942962 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.165984594455064, + "source_return_step_error_deg": 2.217201024074876, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2174177155422106, + "source_return_best_wrist_position": -1.6129626035690308, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129626035690308 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3361, + 0.3515, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3361, + 0.3515, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + -0.0008, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3368, + 0.3253, + 1.0277 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0663, + 0.0639, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0006505731071727808, + -0.000768103244872676, + 0.0011425369666942962 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.165984594455064, + "pour_controller_source_return_step_error_deg": 2.217201024074876, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2174177155422106, + "pour_controller_source_return_best_wrist_position": -1.6129626035690308, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129626035690308, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03639287019653367, + "valid_pour_held_xy_dist": 0.03125974937529914, + "valid_pour_held_gripper_dist": 0.00753751618156236, + "valid_pour_required_height": 0.7911065514473895, + "valid_pour_held_z": 1.014071966274405, + "valid_pour_source_tilt_deg": 2.217191677836259, + "valid_pour_source_upright_tilt_deg": 2.1659873646188874, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.24374162239282e-08, + "valid_pour_target_tilt_deg": 8.840577721688402e-05, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3345110424382718, + 0.2964067035747082, + 1.014071966274405 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3232313397856071, + 0.3202707753909727, + 1.014071966274405 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3288711911119394, + 0.30833873948284046, + 1.014071966274405 + ], + "valid_pour_held_grasp_object_position": [ + 0.3345110424382718, + 0.3202707753909727, + 1.014071966274405 + ], + "valid_pour_held_grasp_finger_gap": 0.02639556052794409, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023882326652415135, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.003129940115884246, + -0.9992855386202134, + 0.037664516184081946 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005694904433179757, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033294366433431026, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3345110424382718, + 0.2964067035747082, + 1.014071966274405 + ], + "held_grasp_finger_b": [ + 0.3232313397856071, + 0.3202707753909727, + 1.014071966274405 + ], + "held_grasp_midpoint": [ + 0.3288711911119394, + 0.30833873948284046, + 1.014071966274405 + ], + "held_grasp_object_position": [ + 0.3345110424382718, + 0.3202707753909727, + 1.014071966274405 + ], + "held_grasp_finger_gap": 0.02639556052794409, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023882326652415135, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.003129940115884246, + -0.9992855386202134, + 0.037664516184081946 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005694904433179757, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033294366433431026, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18759739717897878, + -0.032712301947787716, + 0.7565864182436572 + ], + "target_position": [ + 0.1802671025996052, + -0.034403198177999014, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007522788624023424, + "xy_threshold": 0.08, + "gripper_dist": 0.2202140098079372, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864182436572, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587500798084773, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549482910692387, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19027989641657508, + "release_required_pad_clearance": 0.052747414553461935, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5453619518520897, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3451163549811194, + 0.3479354513518885, + 1.1618527159714356 + ], + "current_z": 1.1618527159714356, + "required_z": 0.8611065060286098, + "initial_z": 0.7611065060286099, + "lift_margin": 0.30074620994282575, + "gripper_z": 1.1507682476529906, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34009057625609057, + 0.3431346224934429, + 1.1507682476529906 + ], + "object_minus_gripper": [ + 0.005025778725028851, + 0.004800828858445627, + 0.011084468318445007 + ], + "object_to_gripper_xy": 0.006950281254815302, + "object_to_gripper_z": 0.011084468318445007, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3451163549811194, + 0.32386243532792447, + 1.1618527159714356 + ], + "finger_b": [ + 0.33425173377744305, + 0.3479354513518885, + 1.1618527159714356 + ], + "finger_midpoint": [ + 0.33968404437928124, + 0.3358989433399065, + 1.1618527159714356 + ], + "object_minus_finger_midpoint": [ + 0.005432310601838186, + 0.012036508011982028, + 0.0 + ], + "finger_gap": 0.026411173665503856, + "fingertip_max_gap": 0.09028066997698789, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013205586832751928, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1618527159714356, + "object_top_z": 1.2117551957368886, + "finger_top_clearance": 0.049902479765453034, + "fingertip_min_top_clearance": 0.014970743929635943, + "object_projection_between_fingers": 0.8307791872600926, + "object_to_finger_line_xy": 0.009902785981526026, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047640334988493946, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.1314762861494696, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3287904175475218, + -0.36525850119424874, + 0.8515395741378788 + ], + "target_position": [ + 0.3218138157102329, + -0.36747511323980797, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007320269268037998, + "xy_threshold": 0.08, + "gripper_dist": 0.1840091416953351, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741378788, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590164412220554, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637329448468577, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15143075976508816, + "release_required_pad_clearance": 0.053186647242342885, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3965914756328224, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00862210988998413, + "max_z_decrease": 0.00862210988998413, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504307527619131, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00862210988998413, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021076274222769247, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00862210988998413, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00862287364464572, + "max_button_displacement": 0.12, + "button_start": [ + 0.17751374840736386, + -0.423736572265625, + 0.7768088579177856 + ], + "button_final": [ + 0.17751374840736386, + -0.423736572265625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17904514302418403, + -0.4228364310599029, + 0.8037521260557666 + ], + "closest_button": [ + 0.17743282020092008, + -0.42374211549758906, + 0.7687578797340393 + ], + "closest_ee_minus_button": [ + 0.0016123228232639564, + 0.0009056844376861828, + 0.03499424632172732 + ], + "button_min_z_position": [ + 0.1774048954248428, + -0.42370021343231196, + 0.7681867480278015 + ], + "min_active_finger_to_button": 0.14425578305503067, + "closest_active_finger": [ + 0.05140449106693268, + -0.48460888862609863, + 0.8090119957923889 + ], + "closest_active_finger_button": [ + 0.17752785980701444, + -0.4237445890903473, + 0.7743974924087524 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12612336874008176, + -0.06086429953575134, + 0.034614503383636475 + ], + "min_contact_pad_to_button": 0.021076274222769247, + "closest_contact_pad": [ + 0.1774048954248428, + -0.4239877332730008, + 0.7892610610048496 + ], + "closest_contact_pad_button": [ + 0.1774048954248428, + -0.42370021343231196, + 0.7681867480278015 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002875198406888657, + 0.021074312977048093 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 0, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3dd8747657dd856beed4530273ea13a19c62bdd3fc8a0566ae293f62ae41b2c5", + "visual_seed": 5390307978520369538, + "episode_index": 0, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_100_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_100_success.json new file mode 100644 index 0000000000000000000000000000000000000000..06676cef729879a83fc1d14129a873a600739206 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_100_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 100, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19994568628863774, + -0.02911754442222503, + 0.9967321578783389 + ], + "current_z": 0.9967321578783389, + "required_z": 0.8565864478039206, + "initial_z": 0.7565864478039206, + "lift_margin": 0.14014571007441834, + "gripper_z": 0.9995849339847213, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19519725906669055, + -0.03365297934836321, + 0.9995849339847213 + ], + "object_minus_gripper": [ + 0.004748427221947182, + 0.004535434926138181, + -0.0028527761063823487 + ], + "object_to_gripper_xy": 0.006566409296667631, + "object_to_gripper_z": -0.0028527761063823487, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19994568628863774, + -0.05347031420388256, + 0.9967321578783389 + ], + "finger_b": [ + 0.18893481090905878, + -0.02911754442222503, + 0.9967321578783389 + ], + "finger_midpoint": [ + 0.19444024859884826, + -0.0412939293130538, + 0.9967321578783389 + ], + "object_minus_finger_midpoint": [ + 0.0055054376897894775, + 0.012176384890828767, + 0.0 + ], + "finger_gap": 0.026726331073737564, + "fingertip_max_gap": 0.09203622458656405, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013363165536868785, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9967321578783389, + "object_top_z": 1.0423269978121799, + "finger_top_clearance": 0.04559483993384095, + "fingertip_min_top_clearance": 0.013678451980152283, + "object_projection_between_fingers": 0.8302675004779663, + "object_to_finger_line_xy": 0.010033001255338712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048518112293282026, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4006860624534592, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34066889304775805, + 0.34932384450897647, + 0.7611063292008317 + ], + "gripper_position": [ + 0.3332416156680299, + 0.314229357471638, + 1.0170415603477747 + ], + "target_minus_gripper": [ + 0.007427277379728148, + 0.03509448703733847, + -0.25593523114694305 + ], + "held_position": [ + 0.33797918842637675, + 0.3186684399971268, + 1.0140225262022213 + ], + "held_minus_target": [ + -0.0026897046213812947, + -0.03065540451184967, + 0.2529161970013897 + ], + "held_minus_gripper": [ + 0.004737572758346853, + 0.004439082525488802, + -0.0030190341455533787 + ], + "xy_dist": 0.03587181999410316, + "held_xy_dist": 0.030773175603687915, + "held_gripper_dist": 0.007159931318158539, + "max_held_gripper_dist": 0.007172086427377961, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0140225262022213, + "required_height": 0.7911063292008317, + "gripper_z": 1.0170415603477747, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1968015798598, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.032180383761742, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1809932725667784, + "max_source_tilt_deg": 89.8093416696164, + "source_upright_tilt_deg": 2.825206308508833, + "max_source_upright_tilt_deg": 89.75963513361035, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1809932725667784, + "source_upright_return_tilt_deg": 2.825206308508833, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.424321830774485e-08, + "max_target_xy_drift": 2.1073424255447017e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3407, + 0.3493, + 0.7611 + ], + "controller_target_position": [ + 0.3407, + 0.3493, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + 0.0011, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3398, + 0.325, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008392515900446842, + 0.0010726642386430832, + 0.00020206160790600019 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8252042409735907, + "source_return_step_error_deg": 2.1809920004214742, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8286087369517956, + "source_return_best_wrist_position": -1.6125110387802124, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125110387802124 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3407, + 0.3493, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3407, + 0.3493, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + 0.0011, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3398, + 0.325, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008392515900446842, + 0.0010726642386430832, + 0.00020206160790600019 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8252042409735907, + "pour_controller_source_return_step_error_deg": 2.1809920004214742, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8286087369517956, + "pour_controller_source_return_best_wrist_position": -1.6125110387802124, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125110387802124, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03587181999410316, + "valid_pour_held_xy_dist": 0.030773175603687915, + "valid_pour_held_gripper_dist": 0.007159931318158539, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0140225262022213, + "valid_pour_source_tilt_deg": 2.1809932725667784, + "valid_pour_source_upright_tilt_deg": 2.825206308508833, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.424321830774485e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33797918842637675, + 0.2949867825472929, + 1.0140225262022213 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3268863388632101, + 0.3186684399971268, + 1.0140225262022213 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33243276364479346, + 0.3068276112722098, + 1.0140225262022213 + ], + "valid_pour_held_grasp_object_position": [ + 0.33797918842637675, + 0.3186684399971268, + 1.0140225262022213 + ], + "valid_pour_held_grasp_finger_gap": 0.026150950479902648, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02398887554329788, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030289937270142203, + -0.9987845604129503, + 0.03888343581630416 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059202129623797, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033541788911577275, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33797918842637675, + 0.2949867825472929, + 1.0140225262022213 + ], + "held_grasp_finger_b": [ + 0.3268863388632101, + 0.3186684399971268, + 1.0140225262022213 + ], + "held_grasp_midpoint": [ + 0.33243276364479346, + 0.3068276112722098, + 1.0140225262022213 + ], + "held_grasp_object_position": [ + 0.33797918842637675, + 0.3186684399971268, + 1.0140225262022213 + ], + "held_grasp_finger_gap": 0.026150950479902648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02398887554329788, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030289937270142203, + -0.9987845604129503, + 0.03888343581630416 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059202129623797, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033541788911577275, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18058511098137894, + -0.029043078927530386, + 0.7565863299033369 + ], + "target_position": [ + 0.1794630815801558, + -0.03204826509132548, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0032078176158058967, + "xy_threshold": 0.08, + "gripper_dist": 0.2157083788760569, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863299033369, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572909223355688, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08658990123965414, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18726255459983415, + "release_required_pad_clearance": 0.05329495061982707, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6085985414362753, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3495827650137491, + 0.3475187839416247, + 1.164827520464192 + ], + "current_z": 1.164827520464192, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3037211316587156, + "gripper_z": 1.1537926962691198, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34476742193858234, + 0.3427484418095663, + 1.1537926962691198 + ], + "object_minus_gripper": [ + 0.004815343075166734, + 0.004770342132058403, + 0.01103482419507218 + ], + "object_to_gripper_xy": 0.006778177704106593, + "object_to_gripper_z": 0.01103482419507218, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3495827650137491, + 0.3237295168381126, + 1.164827520464192 + ], + "finger_b": [ + 0.33859110330770714, + 0.3475187839416247, + 1.164827520464192 + ], + "finger_midpoint": [ + 0.3440869341607281, + 0.33562415038986865, + 1.164827520464192 + ], + "object_minus_finger_midpoint": [ + 0.0054958308530209665, + 0.011894633551756073, + 0.0 + ], + "finger_gap": 0.026205836303814345, + "fingertip_max_gap": 0.09059183822167163, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013102918151907172, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164827520464192, + "object_top_z": 1.2146715656632043, + "finger_top_clearance": 0.04984404519901231, + "fingertip_min_top_clearance": 0.014953213559703658, + "object_projection_between_fingers": 0.8240737444030393, + "object_to_finger_line_xy": 0.009978066458364385, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779591911083582, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.41875176357052163, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33630493148958795, + -0.36822959784965864, + 0.8515395762873497 + ], + "target_position": [ + 0.3293205944518431, + -0.36954567737914507, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007107251872893489, + "xy_threshold": 0.08, + "gripper_dist": 0.18570903917380868, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395762873497, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754552342171436, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859058751237211, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15388654869322843, + "release_required_pad_clearance": 0.05295293756186055, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9421074332681326, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00851374864578247, + "max_z_decrease": 0.00851374864578247, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350085649292122, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00851374864578247, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02123246500141487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00851374864578247, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008514956197574298, + "max_button_displacement": 0.12, + "button_start": [ + 0.18502052128314964, + -0.42580714821815485, + 0.7768088579177856 + ], + "button_final": [ + 0.18502052128314964, + -0.42580714821815485, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18345456615978323, + -0.42659601847857676, + 0.8041332923832596 + ], + "closest_button": [ + 0.1849285960197448, + -0.42577812075614924, + 0.7691653370857239 + ], + "closest_ee_minus_button": [ + -0.001474029859961562, + -0.0008178977224275186, + 0.03496795529753571 + ], + "button_min_z_position": [ + 0.18489545583724967, + -0.4257369935512543, + 0.7682951092720032 + ], + "min_active_finger_to_button": 0.14739009227060762, + "closest_active_finger": [ + 0.042692139744758606, + -0.4098868668079376, + 0.8077448606491089 + ], + "closest_active_finger_button": [ + 0.18503621220588676, + -0.4258159101009369, + 0.7729846835136414 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14234407246112815, + 0.015929043292999268, + 0.03476017713546753 + ], + "min_contact_pad_to_button": 0.02123246500141487, + "closest_contact_pad": [ + 0.18489545583724967, + -0.4276475232531855, + 0.7894414433820646 + ], + "closest_contact_pad_button": [ + 0.18489545583724967, + -0.4257369935512543, + 0.7682951092720032 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019105297019312295, + 0.021146334110061393 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 100, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "448e9a30819679d440af115ebcd4d3425544b0bdd2d85477096d1d9a6ae2da02", + "visual_seed": 2338916645909763879, + "episode_index": 100, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_10_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_10_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d283969a4b802c8694a9ab67a9555b6feee5a23 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_10_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 10, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20510244281064055, + -0.03304715621043192, + 0.9960779689031555 + ], + "current_z": 0.9960779689031555, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13949152109923468, + "gripper_z": 0.9994044176808732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20056620281307314, + -0.03764320195451268, + 0.9994044176808732 + ], + "object_minus_gripper": [ + 0.004536239997567415, + 0.004596045744080755, + -0.0033264487777177054 + ], + "object_to_gripper_xy": 0.006457639645970751, + "object_to_gripper_z": -0.0033264487777177054, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20510244281064055, + -0.05699079745279004, + 0.9960779689031555 + ], + "finger_b": [ + 0.1935486777477768, + -0.03304715621043192, + 0.9960779689031555 + ], + "finger_midpoint": [ + 0.19932556027920867, + -0.04501897683161098, + 0.9960779689031555 + ], + "object_minus_finger_midpoint": [ + 0.005776882531431882, + 0.011971820621179054, + 0.0 + ], + "finger_gap": 0.026585474287110316, + "fingertip_max_gap": 0.09167375537104747, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013292737143555155, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9960779689031555, + "object_top_z": 1.0413407600383506, + "finger_top_clearance": 0.04526279113519516, + "fingertip_min_top_clearance": 0.013578837340558546, + "object_projection_between_fingers": 0.8111320617866205, + "object_to_finger_line_xy": 0.010405652450512295, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048336877685523735, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.644364119991461, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34311998505253394, + 0.35613585074409915, + 0.7611063888054762 + ], + "gripper_position": [ + 0.3368993262390245, + 0.3204344613051602, + 1.0172105551377169 + ], + "target_minus_gripper": [ + 0.0062206588135094165, + 0.03570138943893897, + -0.25610416633224065 + ], + "held_position": [ + 0.3415408969179853, + 0.32482568169507764, + 1.013754894242816 + ], + "held_minus_target": [ + -0.0015790881345486563, + -0.03131016904902151, + 0.25264850543733985 + ], + "held_minus_gripper": [ + 0.00464157067896076, + 0.004391220389917461, + -0.0034556608949007916 + ], + "xy_dist": 0.03623928536746931, + "held_xy_dist": 0.03134996340053648, + "held_gripper_dist": 0.007264198999281452, + "max_held_gripper_dist": 0.007269047197644129, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054762, + "held_z": 1.013754894242816, + "required_height": 0.7911063888054762, + "gripper_z": 1.0172105551377169, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19489595708137, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8992936230758749, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1432424844683164, + "max_source_tilt_deg": 89.63444282150937, + "source_upright_tilt_deg": 2.380359590638549, + "max_source_upright_tilt_deg": 89.96364748021163, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1432424844683164, + "source_upright_return_tilt_deg": 2.380359590638549, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "controller_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0004, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3446, + 0.3302, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0647, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014550810654355597, + -0.00042316733415943505, + 0.0005031752101643415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.380362839892186, + "source_return_step_error_deg": 2.1432371656619127, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.384088788526552, + "source_return_best_wrist_position": -1.6123701333999634, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6123701333999634 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0004, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3446, + 0.3302, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0647, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014550810654355597, + -0.00042316733415943505, + 0.0005031752101643415 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.380362839892186, + "pour_controller_source_return_step_error_deg": 2.1432371656619127, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.384088788526552, + "pour_controller_source_return_best_wrist_position": -1.6123701333999634, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6123701333999634, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03623928536746931, + "valid_pour_held_xy_dist": 0.03134996340053648, + "valid_pour_held_gripper_dist": 0.007264198999281452, + "valid_pour_required_height": 0.7911063888054762, + "valid_pour_held_z": 1.013754894242816, + "valid_pour_source_tilt_deg": 2.1432424844683164, + "valid_pour_source_upright_tilt_deg": 2.380359590638549, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3415408969179853, + 0.30125160175359267, + 1.013754894242816 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3304584655304435, + 0.32482568169507764, + 1.013754894242816 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3359996812242144, + 0.31303864172433515, + 1.013754894242816 + ], + "valid_pour_held_grasp_object_position": [ + 0.3415408969179853, + 0.32482568169507764, + 1.013754894242816 + ], + "valid_pour_held_grasp_finger_gap": 0.02604913684840815, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02370256418312869, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01342895359737059, + -0.999137136411851, + 0.03930198274904285 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005717682340720637, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349776833109577, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3415408969179853, + 0.30125160175359267, + 1.013754894242816 + ], + "held_grasp_finger_b": [ + 0.3304584655304435, + 0.32482568169507764, + 1.013754894242816 + ], + "held_grasp_midpoint": [ + 0.3359996812242144, + 0.31303864172433515, + 1.013754894242816 + ], + "held_grasp_object_position": [ + 0.3415408969179853, + 0.32482568169507764, + 1.013754894242816 + ], + "held_grasp_finger_gap": 0.02604913684840815, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02370256418312869, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01342895359737059, + -0.999137136411851, + 0.03930198274904285 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005717682340720637, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349776833109577, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18610395044174327, + -0.040858244976682105, + 0.7565865422929483 + ], + "target_position": [ + 0.1817926630991991, + -0.03553460030145314, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0068504299995018865, + "xy_threshold": 0.08, + "gripper_dist": 0.2183817705072969, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865422929483, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577114449049883, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08754549440528257, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18760976265568527, + "release_required_pad_clearance": 0.05377274720264129, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.554657123295294, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35189455597883523, + 0.35414879184091647, + 1.1641447949787733 + ], + "current_z": 1.1641447949787733, + "required_z": 0.861106448410121, + "initial_z": 0.761106448410121, + "lift_margin": 0.30303834656865236, + "gripper_z": 1.1527431704749274, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34731501880865234, + 0.3494435732576745, + 1.1527431704749274 + ], + "object_minus_gripper": [ + 0.00457953717018289, + 0.004705218583241966, + 0.011401624503845964 + ], + "object_to_gripper_xy": 0.006565915214893674, + "object_to_gripper_z": 0.011401624503845964, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35189455597883523, + 0.33054873650960676, + 1.1641447949787733 + ], + "finger_b": [ + 0.3409623561385494, + 0.35414879184091647, + 1.1641447949787733 + ], + "finger_midpoint": [ + 0.3464284560586923, + 0.3423487641752616, + 1.1641447949787733 + ], + "object_minus_finger_midpoint": [ + 0.005466099920142908, + 0.011800027665654855, + 0.0 + ], + "finger_gap": 0.026009144641622208, + "fingertip_max_gap": 0.09054965980346971, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013004572320811104, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641447949787733, + "object_top_z": 1.2140893477986172, + "finger_top_clearance": 0.04994455281984389, + "fingertip_min_top_clearance": 0.014983365845953167, + "object_projection_between_fingers": 0.8233299287268171, + "object_to_finger_line_xy": 0.009919608071647377, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777482990173486, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30166039429026315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3303531927627738, + -0.36824674384182465, + 0.8515395731739946 + ], + "target_position": [ + 0.3243122038264918, + -0.3690638585439724, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006096000636872323, + "xy_threshold": 0.08, + "gripper_dist": 0.1818923290983857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395731739946, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579724094421984, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627947371496224, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14928775158212854, + "release_required_pad_clearance": 0.05313973685748112, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3050419515562794, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008479595184326172, + "max_z_decrease": 0.008479595184326172, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004602391516516, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008479595184326172, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0211043996230718, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008479595184326172, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008479734514247002, + "max_button_displacement": 0.12, + "button_start": [ + 0.1800121366977691, + -0.4253253042697906, + 0.7768088579177856 + ], + "button_final": [ + 0.1800121366977691, + -0.4253253042697906, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803335346812905, + -0.4254617690595802, + 0.8033316060190773 + ], + "closest_button": [ + 0.17996622622013086, + -0.42530933022499084, + 0.7683292627334595 + ], + "closest_ee_minus_button": [ + 0.0003673084611596489, + -0.00015243883458937457, + 0.0350023432856178 + ], + "button_min_z_position": [ + 0.17996622622013086, + -0.42530933022499084, + 0.7683292627334595 + ], + "min_active_finger_to_button": 0.14560226990878414, + "closest_active_finger": [ + 0.03960505127906799, + -0.40858620405197144, + 0.8083311319351196 + ], + "closest_active_finger_button": [ + 0.18002580106258387, + -0.4253336191177368, + 0.7736676335334778 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14042074978351587, + 0.01674741506576538, + 0.034663498401641846 + ], + "min_contact_pad_to_button": 0.0211043996230718, + "closest_contact_pad": [ + 0.17996622622013086, + -0.42670977823857437, + 0.7893871455522892 + ], + "closest_contact_pad_button": [ + 0.17996622622013086, + -0.42530933022499084, + 0.7683292627334595 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014004480135835218, + 0.0210578828188297 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 10, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5d032f3d5be90fd946bba6e3c90cc0f42bd44fbf3502e647e4aed3cd078224c2", + "visual_seed": 4070675027328931911, + "episode_index": 10, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_11_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_11_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5833c5a9af1ebfc94b10aebbb113cf47db8987c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_11_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 11, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20210864432069378, + -0.02991534678129642, + 0.99606776971558 + ], + "current_z": 0.99606776971558, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.13948120270236986, + "gripper_z": 0.9989935915145799, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19760602129504365, + -0.034434530542802724, + 0.9989935915145799 + ], + "object_minus_gripper": [ + 0.004502623025650132, + 0.0045191837615063055, + -0.002925821798999917 + ], + "object_to_gripper_xy": 0.006379391505573006, + "object_to_gripper_z": -0.002925821798999917, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20210864432069378, + -0.05394033224168444, + 0.99606776971558 + ], + "finger_b": [ + 0.1908496320285994, + -0.02991534678129642, + 0.99606776971558 + ], + "finger_midpoint": [ + 0.19647913817464657, + -0.04192783951149043, + 0.99606776971558 + ], + "object_minus_finger_midpoint": [ + 0.0056295061460472084, + 0.012012492730194009, + 0.0 + ], + "finger_gap": 0.02653234411365472, + "fingertip_max_gap": 0.09173373056314915, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013266172056827365, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.99606776971558, + "object_top_z": 1.0415464264930954, + "finger_top_clearance": 0.04547865677751539, + "fingertip_min_top_clearance": 0.0136435970332546, + "object_projection_between_fingers": 0.8199266914932831, + "object_to_finger_line_xy": 0.010195013507181506, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04836686528157458, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4439199191918115, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3384356858219584, + 0.3535713012979931, + 0.7611064484101212 + ], + "gripper_position": [ + 0.3312265684511083, + 0.3186603705109538, + 1.017446632569508 + ], + "target_minus_gripper": [ + 0.00720911737085006, + 0.034910930787039274, + -0.25634018415938675 + ], + "held_position": [ + 0.33577231464009727, + 0.32304040730138067, + 1.0143790079899548 + ], + "held_minus_target": [ + -0.0026633711818611072, + -0.030530893996612407, + 0.25327255957983363 + ], + "held_minus_gripper": [ + 0.004545746188988953, + 0.004380036790426867, + -0.0030676245795531187 + ], + "xy_dist": 0.03564750288146617, + "held_xy_dist": 0.030646843789936214, + "held_gripper_dist": 0.007018465021732239, + "max_held_gripper_dist": 0.007023071908473068, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0143790079899548, + "required_height": 0.7911064484101212, + "gripper_z": 1.017446632569508, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20184225946727, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.152709546985345, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.163084023008712, + "max_source_tilt_deg": 89.68828758272885, + "source_upright_tilt_deg": 2.4502555721812653, + "max_source_upright_tilt_deg": 89.94092187653882, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.163084023008712, + "source_upright_return_tilt_deg": 2.4502555721812653, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3384, + 0.3536, + 0.7611 + ], + "controller_target_position": [ + 0.3384, + 0.3536, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.0005, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3373, + 0.3287, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.065, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011830875332977226, + 0.000507745253871093, + 0.0018101760461878952 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4502197342721455, + "source_return_step_error_deg": 2.1630417605462093, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4538115500187465, + "source_return_best_wrist_position": -1.6127732992172241, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127732992172241 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3384, + 0.3536, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3384, + 0.3536, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.0005, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3373, + 0.3287, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.065, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011830875332977226, + 0.000507745253871093, + 0.0018101760461878952 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4502197342721455, + "pour_controller_source_return_step_error_deg": 2.1630417605462093, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4538115500187465, + "pour_controller_source_return_best_wrist_position": -1.6127732992172241, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127732992172241, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03564750288146617, + "valid_pour_held_xy_dist": 0.030646843789936214, + "valid_pour_held_gripper_dist": 0.007018465021732239, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0143790079899548, + "valid_pour_source_tilt_deg": 2.163084023008712, + "valid_pour_source_upright_tilt_deg": 2.4502555721812653, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33577231464009727, + 0.2995540596088555, + 1.0143790079899548 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3246970543887442, + 0.32304040730138067, + 1.0143790079899548 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33023468451442073, + 0.31129723345511806, + 1.0143790079899548 + ], + "valid_pour_held_grasp_object_position": [ + 0.33577231464009727, + 0.32304040730138067, + 1.0143790079899548 + ], + "valid_pour_held_grasp_finger_gap": 0.02596670786929648, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023701290611809634, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02134630556011058, + -0.9990857254401673, + 0.03704117250613681 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005803202086354663, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358599554938909, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33577231464009727, + 0.2995540596088555, + 1.0143790079899548 + ], + "held_grasp_finger_b": [ + 0.3246970543887442, + 0.32304040730138067, + 1.0143790079899548 + ], + "held_grasp_midpoint": [ + 0.33023468451442073, + 0.31129723345511806, + 1.0143790079899548 + ], + "held_grasp_object_position": [ + 0.33577231464009727, + 0.32304040730138067, + 1.0143790079899548 + ], + "held_grasp_finger_gap": 0.02596670786929648, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023701290611809634, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02134630556011058, + -0.9990857254401673, + 0.03704117250613681 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005803202086354663, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358599554938909, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18739554906403516, + -0.031425426298468326, + 0.7565862527758169 + ], + "target_position": [ + 0.1800167005932478, + -0.033729500830289826, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007730211135734213, + "xy_threshold": 0.08, + "gripper_dist": 0.22147918873791528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862527758169, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532047805638577, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08603333993645594, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19288914380790537, + "release_required_pad_clearance": 0.05301666996822797, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.065315473338437, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3473344035981039, + 0.35130157193014633, + 1.1651012352879297 + ], + "current_z": 1.1651012352879297, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30399484648245334, + "gripper_z": 1.1540287481576805, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3424726486157314, + 0.3465615268960237, + 1.1540287481576805 + ], + "object_minus_gripper": [ + 0.004861754982372513, + 0.00474004503412262, + 0.01107248713024922 + ], + "object_to_gripper_xy": 0.006790043330799477, + "object_to_gripper_z": 0.01107248713024922, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3473344035981039, + 0.3273582015509245, + 1.1651012352879297 + ], + "finger_b": [ + 0.33653930533010207, + 0.35130157193014633, + 1.1651012352879297 + ], + "finger_midpoint": [ + 0.341936854464103, + 0.33932988674053544, + 1.1651012352879297 + ], + "object_minus_finger_midpoint": [ + 0.005397549134000923, + 0.011971685189610892, + 0.0 + ], + "finger_gap": 0.026264408078851012, + "fingertip_max_gap": 0.09062764504568918, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313220403942548, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651012352879297, + "object_top_z": 1.2149714656754533, + "finger_top_clearance": 0.049870230387523584, + "fingertip_min_top_clearance": 0.014961069116257074, + "object_projection_between_fingers": 0.8310656500303895, + "object_to_finger_line_xy": 0.009841114078599552, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04781382252284459, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.37454404337788383, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3363059904464989, + -0.36920344117905585, + 0.8515395889208328 + ], + "target_position": [ + 0.32940458977864956, + -0.3711418395785269, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007168453078123846, + "xy_threshold": 0.08, + "gripper_dist": 0.18541183573780814, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395889208328, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524753004784403, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08564945975881431, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15437520439974053, + "release_required_pad_clearance": 0.05282472987940716, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6943584024007026, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008614540100097656, + "max_z_decrease": 0.008614540100097656, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500808197830341, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008614540100097656, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02125476294985359, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008614540100097656, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008616157032048391, + "max_button_displacement": 0.12, + "button_start": [ + 0.18510451912879944, + -0.42740330100059504, + 0.7768088579177856 + ], + "button_final": [ + 0.18510451912879944, + -0.42740330100059504, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18562603861467103, + -0.42846240358653986, + 0.8035562109084936 + ], + "closest_button": [ + 0.1849730014801025, + -0.4273163974285125, + 0.768572986125946 + ], + "closest_ee_minus_button": [ + 0.0006530371345685182, + -0.0011460061580273462, + 0.03498322478254756 + ], + "button_min_z_position": [ + 0.18496364355087277, + -0.4273137748241424, + 0.768194317817688 + ], + "min_active_finger_to_button": 0.1452368458157866, + "closest_active_finger": [ + 0.044901199638843536, + -0.4124782085418701, + 0.8082547783851624 + ], + "closest_active_finger_button": [ + 0.1851194053888321, + -0.42741236090660095, + 0.7734759449958801 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14021820574998856, + 0.014934152364730835, + 0.03477883338928223 + ], + "min_contact_pad_to_button": 0.02125476294985359, + "closest_contact_pad": [ + 0.18496364355087277, + -0.4296123996782703, + 0.789324421268321 + ], + "closest_contact_pad_button": [ + 0.18496364355087277, + -0.4273137748241424, + 0.768194317817688 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022986248541279064, + 0.021130103450633042 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 11, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "9cd5ddfd5be7723e8abae57b29aca9e8424190f24d043902bdd43dfdf0a09016", + "visual_seed": 4082533109815658298, + "episode_index": 11, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_12_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_12_success.json new file mode 100644 index 0000000000000000000000000000000000000000..909fd48c47e401e36bf0de7ba66e2a1c4147dea2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_12_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 12, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2058485357861478, + -0.03289079583804431, + 0.9956620214844488 + ], + "current_z": 0.9956620214844488, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13907545447123848, + "gripper_z": 0.9990923970523156, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20132459477905862, + -0.03749483459728646, + 0.9990923970523156 + ], + "object_minus_gripper": [ + 0.004523941007089194, + 0.004604038759242153, + -0.003430375567866739 + ], + "object_to_gripper_xy": 0.006454704883434038, + "object_to_gripper_z": -0.003430375567866739, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2058485357861478, + -0.056796780764682225, + 0.9956620214844488 + ], + "finger_b": [ + 0.1942498318986387, + -0.03289079583804431, + 0.9956620214844488 + ], + "finger_midpoint": [ + 0.20004918384239326, + -0.04484378830136326, + 0.9956620214844488 + ], + "object_minus_finger_midpoint": [ + 0.005799351943754555, + 0.011952992463318955, + 0.0 + ], + "finger_gap": 0.02657115065597947, + "fingertip_max_gap": 0.09184603857921347, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013285575327989732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9956620214844488, + "object_top_z": 1.0409261666984482, + "finger_top_clearance": 0.04526414521399935, + "fingertip_min_top_clearance": 0.013579243564199804, + "object_projection_between_fingers": 0.8094547185519131, + "object_to_finger_line_xy": 0.010435319263862286, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842301928960674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8035918200720982, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3343991400684796, + 0.35302401144966555, + 0.7611063888054764 + ], + "gripper_position": [ + 0.3278606259149438, + 0.31729194925828164, + 1.0176396927630669 + ], + "target_minus_gripper": [ + 0.0065385141535357905, + 0.03573206219138392, + -0.25653330395759044 + ], + "held_position": [ + 0.33253606460641627, + 0.3216405498220858, + 1.0140797342575076 + ], + "held_minus_target": [ + -0.0018630754620633239, + -0.03138346162757977, + 0.2529733454520312 + ], + "held_minus_gripper": [ + 0.004675438691472467, + 0.00434860056380415, + -0.0035599585055592353 + ], + "xy_dist": 0.036325369038523424, + "held_xy_dist": 0.03143871361724449, + "held_gripper_dist": 0.007310496452535839, + "max_held_gripper_dist": 0.007315319721600955, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0140797342575076, + "required_height": 0.7911063888054765, + "gripper_z": 1.0176396927630669, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19736848556092, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9424968689053023, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.226468118264566, + "max_source_tilt_deg": 89.8064219777351, + "source_upright_tilt_deg": 2.2997999976180625, + "max_source_upright_tilt_deg": 89.75712234028919, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.226468118264566, + "source_upright_return_tilt_deg": 2.2997999976180625, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3344, + 0.353, + 0.7611 + ], + "controller_target_position": [ + 0.3344, + 0.353, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0001, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3339, + 0.3274, + 1.0284 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0664, + 0.0642, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004887161003580256, + -8.175935995945985e-05, + 0.0018226899265301223 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.300112780080519, + "source_return_step_error_deg": 2.2267505881411878, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2991328237782436, + "source_return_best_wrist_position": -1.6125917434692383, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125917434692383 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3344, + 0.353, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3344, + 0.353, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0001, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3339, + 0.3274, + 1.0284 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0664, + 0.0642, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004887161003580256, + -8.175935995945985e-05, + 0.0018226899265301223 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.300112780080519, + "pour_controller_source_return_step_error_deg": 2.2267505881411878, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2991328237782436, + "pour_controller_source_return_best_wrist_position": -1.6125917434692383, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125917434692383, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036325369038523424, + "valid_pour_held_xy_dist": 0.03143871361724449, + "valid_pour_held_gripper_dist": 0.007310496452535839, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0140797342575076, + "valid_pour_source_tilt_deg": 2.226468118264566, + "valid_pour_source_upright_tilt_deg": 2.2997999976180625, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33253606460641627, + 0.29795409414789126, + 1.0140797342575076 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3216343388220098, + 0.3216405498220858, + 1.0140797342575076 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32708520171421307, + 0.30979732198498855, + 1.0140797342575076 + ], + "valid_pour_held_grasp_object_position": [ + 0.33253606460641627, + 0.3216405498220858, + 1.0140797342575076 + ], + "valid_pour_held_grasp_finger_gap": 0.02607481174397957, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023736992640774182, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006385715841458393, + -0.9991945457470088, + 0.03961669323177874 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005546202221471229, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033401343968464406, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33253606460641627, + 0.29795409414789126, + 1.0140797342575076 + ], + "held_grasp_finger_b": [ + 0.3216343388220098, + 0.3216405498220858, + 1.0140797342575076 + ], + "held_grasp_midpoint": [ + 0.32708520171421307, + 0.30979732198498855, + 1.0140797342575076 + ], + "held_grasp_object_position": [ + 0.33253606460641627, + 0.3216405498220858, + 1.0140797342575076 + ], + "held_grasp_finger_gap": 0.02607481174397957, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023736992640774182, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006385715841458393, + -0.9991945457470088, + 0.03961669323177874 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005546202221471229, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033401343968464406, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18897440193701068, + -0.028935410366489923, + 0.7565863156486143 + ], + "target_position": [ + 0.18262928516169494, + -0.03480844008839171, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008645980858568618, + "xy_threshold": 0.08, + "gripper_dist": 0.2189826252554824, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863156486143, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556719967942109, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08986498262631225, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19070108644403844, + "release_required_pad_clearance": 0.054932491313156126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.932336945432653, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 282, + "max_placed_release_frames": 282 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3433472989661084, + 0.34876237497017, + 1.162218400579085 + ], + "current_z": 1.162218400579085, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3011120117736086, + "gripper_z": 1.1512034217351275, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3383776042779933, + 0.34393631522163304, + 1.1512034217351275 + ], + "object_minus_gripper": [ + 0.004969694688115089, + 0.004826059748536948, + 0.011014978843957524 + ], + "object_to_gripper_xy": 0.006927388973453696, + "object_to_gripper_z": 0.011014978843957524, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3433472989661084, + 0.3247672523363105, + 1.162218400579085 + ], + "finger_b": [ + 0.33239697092410964, + 0.34876237497017, + 1.162218400579085 + ], + "finger_midpoint": [ + 0.33787213494510904, + 0.33676481365324024, + 1.162218400579085 + ], + "object_minus_finger_midpoint": [ + 0.005475164020999346, + 0.01199756131692975, + 0.0 + ], + "finger_gap": 0.02637566291946689, + "fingertip_max_gap": 0.09045751950530898, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013187831459733432, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162218400579085, + "object_top_z": 1.2120145038573176, + "finger_top_clearance": 0.049796103278232584, + "fingertip_min_top_clearance": 0.014938830983469775, + "object_projection_between_fingers": 0.8276356319159405, + "object_to_finger_line_xy": 0.009962004179800966, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772875975265449, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.38916243950845547, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3358408013436796, + -0.36869804028335873, + 0.8515395926210602 + ], + "target_position": [ + 0.328028726357489, + -0.37049480850457367, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00801603964752129, + "xy_threshold": 0.08, + "gripper_dist": 0.18429577931829919, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395926210602, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07561881020968964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598590489775874, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15227250743293458, + "release_required_pad_clearance": 0.052992952448879374, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0195138920990712, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008422315120697021, + "max_z_decrease": 0.008422315120697021, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499832230232087, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008422315120697021, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021198185510001338, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008422315120697021, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008423549727076051, + "max_button_displacement": 0.12, + "button_start": [ + 0.1837286502122879, + -0.42675626277923584, + 0.7768088579177856 + ], + "button_final": [ + 0.1837286502122879, + -0.42675626277923584, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18231424205428717, + -0.4257225156807494, + 0.8037198059032046 + ], + "closest_button": [ + 0.18360009789466858, + -0.4266827404499054, + 0.7687582969665527 + ], + "closest_ee_minus_button": [ + -0.0012858558403814058, + 0.0009602247691559707, + 0.03496150893665184 + ], + "button_min_z_position": [ + 0.1835990697145462, + -0.4266929626464844, + 0.7683865427970886 + ], + "min_active_finger_to_button": 0.1468412496015577, + "closest_active_finger": [ + 0.05461202561855316, + -0.4873961806297302, + 0.8078247904777527 + ], + "closest_active_finger_button": [ + 0.18374761939048767, + -0.42676571011543274, + 0.77303546667099 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1291355937719345, + -0.060630470514297485, + 0.034789323806762695 + ], + "min_contact_pad_to_button": 0.021198185510001338, + "closest_contact_pad": [ + 0.18360009789466858, + -0.4270512722757071, + 0.7899532787596518 + ], + "closest_contact_pad_button": [ + 0.18360009789466858, + -0.4266827404499054, + 0.7687582969665527 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00036853182580171007, + 0.021194981793099088 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 12, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c577e4dac72efe319cd2500f899f483f1e5f704c9f18db02ddbe68c7c20d8259", + "visual_seed": 2323074764379003958, + "episode_index": 12, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_13_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_13_success.json new file mode 100644 index 0000000000000000000000000000000000000000..935e281c6d301a13d3acc76126109b996a718aa4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_13_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 13, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.199223366315498, + -0.03240823133980227, + 0.9984282992949038 + ], + "current_z": 0.9984282992949038, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14184185149098305, + "gripper_z": 1.0014071224272179, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19441799270701085, + -0.037011672566756915, + 1.0014071224272179 + ], + "object_minus_gripper": [ + 0.004805373608487151, + 0.004603441226954642, + -0.0029788231323140124 + ], + "object_to_gripper_xy": 0.006654568855092754, + "object_to_gripper_z": -0.0029788231323140124, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.199223366315498, + -0.056766315877005244, + 0.9984282992949038 + ], + "finger_b": [ + 0.18796493377478657, + -0.03240823133980227, + 0.9984282992949038 + ], + "finger_midpoint": [ + 0.1935941500451423, + -0.044587273608403755, + 0.9984282992949038 + ], + "object_minus_finger_midpoint": [ + 0.0056292162703557025, + 0.012179042268601482, + 0.0 + ], + "finger_gap": 0.026834093716674626, + "fingertip_max_gap": 0.09152240497506398, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013417046858337304, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9984282992949038, + "object_top_z": 1.0438116490973877, + "finger_top_clearance": 0.04538334980248382, + "fingertip_min_top_clearance": 0.01361500494074513, + "object_projection_between_fingers": 0.823971902386264, + "object_to_finger_line_xy": 0.010219605494358013, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826120248753199, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2800229825455829, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33885214347500414, + 0.35154319365486575, + 0.7611063292008317 + ], + "gripper_position": [ + 0.3317505663201159, + 0.3157184695739681, + 1.0172158394564248 + ], + "target_minus_gripper": [ + 0.007101577154888239, + 0.03582472408089765, + -0.25610951025559314 + ], + "held_position": [ + 0.3365463098093744, + 0.32024242308540896, + 1.0141010539993411 + ], + "held_minus_target": [ + -0.002305833665629753, + -0.03130077056945679, + 0.2529947247985095 + ], + "held_minus_gripper": [ + 0.004795743489258486, + 0.004523953511440859, + -0.0031147854570836575 + ], + "xy_dist": 0.03652181886981094, + "held_xy_dist": 0.031385587570337506, + "held_gripper_dist": 0.007291584151067797, + "max_held_gripper_dist": 0.007297141095666001, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0141010539993411, + "required_height": 0.7911063292008317, + "gripper_z": 1.0172158394564248, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19653520248217, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6624971020128694, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1535128418912315, + "max_source_tilt_deg": 89.972126428439, + "source_upright_tilt_deg": 2.8356588593806245, + "max_source_upright_tilt_deg": 89.7782987589031, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1535128418912315, + "source_upright_return_tilt_deg": 2.8356588593806245, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.519626234052415e-07, + "max_target_xy_drift": 1.812804499357408e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3389, + 0.3515, + 0.7611 + ], + "controller_target_position": [ + 0.3389, + 0.3515, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + -0.0006, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3386, + 0.3255, + 1.0276 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00020891523713212974, + -0.0006143265884950542, + 0.0011349185789685232 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.835664627455148, + "source_return_step_error_deg": 2.153517971650026, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.839306489136856, + "source_return_best_wrist_position": -1.612442135810852, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612442135810852 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3389, + 0.3515, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3389, + 0.3515, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + -0.0006, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3386, + 0.3255, + 1.0276 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00020891523713212974, + -0.0006143265884950542, + 0.0011349185789685232 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.835664627455148, + "pour_controller_source_return_step_error_deg": 2.153517971650026, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.839306489136856, + "pour_controller_source_return_best_wrist_position": -1.612442135810852, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612442135810852, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03652181886981094, + "valid_pour_held_xy_dist": 0.031385587570337506, + "valid_pour_held_gripper_dist": 0.007291584151067797, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0141010539993411, + "valid_pour_source_tilt_deg": 2.1535128418912315, + "valid_pour_source_upright_tilt_deg": 2.8356588593806245, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.519626234052415e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3365463098093744, + 0.2966236954776689, + 1.0141010539993411 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32519315862586784, + 0.32024242308540896, + 1.0141010539993411 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3308697342176211, + 0.30843305928153897, + 1.0141010539993411 + ], + "valid_pour_held_grasp_object_position": [ + 0.3365463098093744, + 0.32024242308540896, + 1.0141010539993411 + ], + "valid_pour_held_grasp_finger_gap": 0.026205692809085916, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023942987112348633, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.031108492056934917, + -0.9987755517873361, + 0.03846633429176661 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006057999701317553, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358191082304976, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3365463098093744, + 0.2966236954776689, + 1.0141010539993411 + ], + "held_grasp_finger_b": [ + 0.32519315862586784, + 0.32024242308540896, + 1.0141010539993411 + ], + "held_grasp_midpoint": [ + 0.3308697342176211, + 0.30843305928153897, + 1.0141010539993411 + ], + "held_grasp_object_position": [ + 0.3365463098093744, + 0.32024242308540896, + 1.0141010539993411 + ], + "held_grasp_finger_gap": 0.026205692809085916, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023942987112348633, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.031108492056934917, + -0.9987755517873361, + 0.03846633429176661 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006057999701317553, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358191082304976, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18905686145787223, + -0.035705813315415544, + 0.756586284354717 + ], + "target_position": [ + 0.17619444510718626, + -0.033494523334006335, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013051113276662436, + "xy_threshold": 0.08, + "gripper_dist": 0.2227058664003908, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586284354717, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559879996844354, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854129232870751, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19221791130290047, + "release_required_pad_clearance": 0.05427064616435376, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5605249559952954, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3479376890667708, + 0.3471641131101144, + 1.1640814040389085 + ], + "current_z": 1.1640814040389085, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30297507483807684, + "gripper_z": 1.1531084101634954, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34311353093438457, + 0.3423185181121923, + 1.1531084101634954 + ], + "object_minus_gripper": [ + 0.004824158132386236, + 0.004845594997922087, + 0.010972993875413062 + ], + "object_to_gripper_xy": 0.006837564812866918, + "object_to_gripper_z": 0.010972993875413062, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3479376890667708, + 0.3233851934854777, + 1.1640814040389085 + ], + "finger_b": [ + 0.3368046340752496, + 0.3471641131101144, + 1.1640814040389085 + ], + "finger_midpoint": [ + 0.3423711615710102, + 0.33527465329779604, + 1.1640814040389085 + ], + "object_minus_finger_midpoint": [ + 0.005566527495760587, + 0.01188945981231837, + 0.0 + ], + "finger_gap": 0.02625608371328767, + "fingertip_max_gap": 0.09044646393139369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013128041856643824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640814040389085, + "object_top_z": 1.213938106931772, + "finger_top_clearance": 0.04985670289286359, + "fingertip_min_top_clearance": 0.014957010867859043, + "object_projection_between_fingers": 0.820208642411045, + "object_to_finger_line_xy": 0.010082692556547165, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04772323196569685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29220088227588636, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32954088855722, + -0.36338074456934727, + 0.8515395593152335 + ], + "target_position": [ + 0.32378290041831775, + -0.3639582991114874, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005786881427581348, + "xy_threshold": 0.08, + "gripper_dist": 0.18361298957701805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395593152335, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528755232228855, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08783614597612287, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15223702235279166, + "release_required_pad_clearance": 0.053918072988061436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8459813607119315, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008535981178283691, + "max_z_decrease": 0.008535981178283691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500815962554695, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008535981178283691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020924258622630698, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008535981178283691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008536201152852927, + "max_button_displacement": 0.12, + "button_start": [ + 0.17948283255100247, + -0.42021974921226496, + 0.7768088579177856 + ], + "button_final": [ + 0.17948283255100247, + -0.42021974921226496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17886689152331292, + -0.41923990148888196, + 0.8032634110420495 + ], + "closest_button": [ + 0.17942467331886292, + -0.4202004373073578, + 0.768272876739502 + ], + "closest_ee_minus_button": [ + -0.0005577817955499942, + 0.0009605358184758273, + 0.034990534302547505 + ], + "button_min_z_position": [ + 0.17942467331886292, + -0.4202004373073578, + 0.768272876739502 + ], + "min_active_finger_to_button": 0.14593985808693902, + "closest_active_finger": [ + 0.05285544693470001, + -0.4841589033603668, + 0.810585081577301 + ], + "closest_active_finger_button": [ + 0.17948524653911588, + -0.42022526264190674, + 0.7762947678565979 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12662979960441587, + -0.06393364071846008, + 0.034290313720703125 + ], + "min_contact_pad_to_button": 0.020924258622630698, + "closest_contact_pad": [ + 0.17942467331886292, + -0.4202225521580366, + 0.7891971236755356 + ], + "closest_contact_pad_button": [ + 0.17942467331886292, + -0.4202004373073578, + 0.768272876739502 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -2.2114850678822684e-05, + 0.020924246936033675 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 13, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "85c27270e3ccf4df0f3ed0a2b250769005b537a8412f0d5464ccee14bc126420", + "visual_seed": 8089870901338282539, + "episode_index": 13, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_14_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_14_success.json new file mode 100644 index 0000000000000000000000000000000000000000..006b12862f4988be76dbc7bd49878995a6bc636e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_14_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 14, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19907817071729977, + -0.035716232544454184, + 0.9956986155200614 + ], + "current_z": 0.9956986155200614, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13911216771614066, + "gripper_z": 0.9986597073084575, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1943347801859194, + -0.04025082103638053, + 0.9986597073084575 + ], + "object_minus_gripper": [ + 0.00474339053138037, + 0.004534588491926346, + -0.0029610917883960974 + ], + "object_to_gripper_xy": 0.006562183060864716, + "object_to_gripper_z": -0.0029610917883960974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19907817071729977, + -0.06010575022333916, + 0.9956986155200614 + ], + "finger_b": [ + 0.18800502482778172, + -0.035716232544454184, + 0.9956986155200614 + ], + "finger_midpoint": [ + 0.19354159777254076, + -0.04791099138389667, + 0.9956986155200614 + ], + "object_minus_finger_midpoint": [ + 0.005536572944759011, + 0.012194758839442488, + 0.0 + ], + "finger_gap": 0.0267855022820031, + "fingertip_max_gap": 0.09140822918005415, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013392751141001543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9956986155200614, + "object_top_z": 1.041057714697296, + "finger_top_clearance": 0.04535909917723446, + "fingertip_min_top_clearance": 0.01360772975317034, + "object_projection_between_fingers": 0.8290998459203918, + "object_to_finger_line_xy": 0.010082644133006585, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048204114590027075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2563932310283066, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3428907157864055, + 0.3547558840082593, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33458059155895636, + 0.3185277480577601, + 1.0155084981842228 + ], + "target_minus_gripper": [ + 0.008310124227449145, + 0.03622813595049923, + -0.2544021093787464 + ], + "held_position": [ + 0.33937033936452166, + 0.32292350881921045, + 1.0124138198558492 + ], + "held_minus_target": [ + -0.003520376421883853, + -0.031832375189048856, + 0.2513074310503728 + ], + "held_minus_gripper": [ + 0.004789747805565292, + 0.0043957607614503735, + -0.0030946783283736234 + ], + "xy_dist": 0.037169019345733245, + "held_xy_dist": 0.03202644470321563, + "held_gripper_dist": 0.0072000993513235394, + "max_held_gripper_dist": 0.007205648273920736, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0124138198558492, + "required_height": 0.7911063888054765, + "gripper_z": 1.0155084981842228, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2062340711036, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9040553586111695, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3625974183703136, + "max_source_tilt_deg": 89.93243417429137, + "source_upright_tilt_deg": 2.4651266725620293, + "max_source_upright_tilt_deg": 89.99677837020106, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3625974183703136, + "source_upright_return_tilt_deg": 2.4651266725620293, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3429, + 0.3548, + 0.7611 + ], + "controller_target_position": [ + 0.3429, + 0.3548, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + -0.0001, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3419, + 0.3293, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0649, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009574646712046154, + -5.485454081721069e-05, + -0.0019793662528513984 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.464830811469479, + "source_return_step_error_deg": 2.3624010364676593, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4689962144525475, + "source_return_best_wrist_position": -1.61322820186615, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61322820186615 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3429, + 0.3548, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3429, + 0.3548, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + -0.0001, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3419, + 0.3293, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0649, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009574646712046154, + -5.485454081721069e-05, + -0.0019793662528513984 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.464830811469479, + "pour_controller_source_return_step_error_deg": 2.3624010364676593, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4689962144525475, + "pour_controller_source_return_best_wrist_position": -1.61322820186615, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61322820186615, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037169019345733245, + "valid_pour_held_xy_dist": 0.03202644470321563, + "valid_pour_held_gripper_dist": 0.0072000993513235394, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0124138198558492, + "valid_pour_source_tilt_deg": 2.3625974183703136, + "valid_pour_source_upright_tilt_deg": 2.4651266725620293, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33937033936452166, + 0.29910452129439397, + 1.0124138198558492 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32848798943853985, + 0.32292350881921045, + 1.0124138198558492 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33392916440153075, + 0.3110140150568022, + 1.0124138198558492 + ], + "valid_pour_held_grasp_object_position": [ + 0.33937033936452166, + 0.32292350881921045, + 1.0124138198558492 + ], + "valid_pour_held_grasp_finger_gap": 0.02618720501731484, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02399871239729489, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01854076190682603, + -0.9990745959935106, + 0.03880968678459118 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005679728615519618, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03340263582612772, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33937033936452166, + 0.29910452129439397, + 1.0124138198558492 + ], + "held_grasp_finger_b": [ + 0.32848798943853985, + 0.32292350881921045, + 1.0124138198558492 + ], + "held_grasp_midpoint": [ + 0.33392916440153075, + 0.3110140150568022, + 1.0124138198558492 + ], + "held_grasp_object_position": [ + 0.33937033936452166, + 0.32292350881921045, + 1.0124138198558492 + ], + "held_grasp_finger_gap": 0.02618720501731484, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02399871239729489, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01854076190682603, + -0.9990745959935106, + 0.03880968678459118 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005679728615519618, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03340263582612772, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17752875142629554, + -0.037034838704287074, + 0.7565864548947383 + ], + "target_position": [ + 0.1756836865588389, + -0.037836301182793776, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0020116178736472048, + "xy_threshold": 0.08, + "gripper_dist": 0.2155317302307215, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864548947383, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07525536429647048, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08792790397499363, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1873997794554285, + "release_required_pad_clearance": 0.05396395198749682, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9382742751163824, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 295, + "max_placed_release_frames": 295 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35172136761107076, + 0.3512984985791312, + 1.164157719567938 + ], + "current_z": 1.164157719567938, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3030512711578168, + "gripper_z": 1.1527871941076422, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34716996178098525, + 0.34657288366724875, + 1.1527871941076422 + ], + "object_minus_gripper": [ + 0.004551405830085509, + 0.0047256149118824475, + 0.011370525460295822 + ], + "object_to_gripper_xy": 0.006561000786887783, + "object_to_gripper_z": 0.011370525460295822, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35172136761107076, + 0.32752139691335647, + 1.164157719567938 + ], + "finger_b": [ + 0.34099563169966884, + 0.3512984985791312, + 1.164157719567938 + ], + "finger_midpoint": [ + 0.3463584996553698, + 0.33940994774624383, + 1.164157719567938 + ], + "object_minus_finger_midpoint": [ + 0.005362867955700956, + 0.011888550832887368, + 0.0 + ], + "finger_gap": 0.026084324305331818, + "fingertip_max_gap": 0.0901661306840851, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013042162152665909, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164157719567938, + "object_top_z": 1.2141077759141186, + "finger_top_clearance": 0.04995005634618055, + "fingertip_min_top_clearance": 0.01498501690385413, + "object_projection_between_fingers": 0.8309189185667974, + "object_to_finger_line_xy": 0.009777018189945015, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047583065342042555, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4046074525414198, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3267224986182007, + -0.3630977792356752, + 0.8515395717646626 + ], + "target_position": [ + 0.320411596512658, + -0.3641318988641269, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006395067536132221, + "xy_threshold": 0.08, + "gripper_dist": 0.18180360123412623, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395717646626, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569108287939907, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08572590369243298, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14953277036797333, + "release_required_pad_clearance": 0.05286295184621649, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7682086027235938, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00848245620727539, + "max_z_decrease": 0.00848245620727539, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035097043741733856, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00848245620727539, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021018028684697487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00848245620727539, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008483141144379116, + "max_button_displacement": 0.12, + "button_start": [ + 0.17611151933670044, + -0.42039334774017334, + 0.7768088579177856 + ], + "button_final": [ + 0.17611151933670044, + -0.42039334774017334, + 0.7768088579177856 + ], + "closest_ee": [ + 0.177664597208104, + -0.4183521653305686, + 0.8037159680355681 + ], + "closest_button": [ + 0.1760204881429672, + -0.42039650678634644, + 0.7687171101570129 + ], + "closest_ee_minus_button": [ + 0.0016441090651368173, + 0.0020443414557778095, + 0.03499885787855517 + ], + "button_min_z_position": [ + 0.17600558698177332, + -0.4203733801841736, + 0.7683264017105103 + ], + "min_active_finger_to_button": 0.14368471349241477, + "closest_active_finger": [ + 0.05050168186426163, + -0.48104023933410645, + 0.8107889294624329 + ], + "closest_active_finger_button": [ + 0.17611813545227048, + -0.4203999638557434, + 0.7763134241104126 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12561645358800885, + -0.06064027547836304, + 0.034475505352020264 + ], + "min_contact_pad_to_button": 0.021018028684697487, + "closest_contact_pad": [ + 0.17600558698177332, + -0.4203733801841736, + 0.7893444303952077 + ], + "closest_contact_pad_button": [ + 0.17600558698177332, + -0.4203733801841736, + 0.7683264017105103 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021018028684697487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 14, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ddb25291e9a08f06a18a431fe4e74162f348246d9e2957b3f2fbd29290e5a6b7", + "visual_seed": 6952145855184368594, + "episode_index": 14, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_15_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_15_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0ac2e24be325a2f8f7c648e8ed402d41f852f24a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_15_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 15, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20400735828414157, + -0.029654320044727397, + 0.997570404515556 + ], + "current_z": 0.997570404515556, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14098383750234567, + "gripper_z": 1.0005832162802484, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1993138181822825, + -0.03431072636114339, + 1.0005832162802484 + ], + "object_minus_gripper": [ + 0.004693540101859073, + 0.004656406316415996, + -0.003012811764692369 + ], + "object_to_gripper_xy": 0.006611462657484957, + "object_to_gripper_z": -0.003012811764692369, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20400735828414157, + -0.053736139270499965, + 0.997570404515556 + ], + "finger_b": [ + 0.19246699616910715, + -0.029654320044727397, + 0.997570404515556 + ], + "finger_midpoint": [ + 0.19823717722662437, + -0.04169522965761368, + 0.997570404515556 + ], + "object_minus_finger_midpoint": [ + 0.0057701810575171986, + 0.012040909612886282, + 0.0 + ], + "finger_gap": 0.02670419395841992, + "fingertip_max_gap": 0.09159404496870094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013352096979209954, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.997570404515556, + "object_top_z": 1.0430515248511054, + "finger_top_clearance": 0.04548112033554941, + "fingertip_min_top_clearance": 0.013644336100664805, + "object_projection_between_fingers": 0.8132416942860672, + "object_to_finger_line_xy": 0.010407088665059157, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829702248435047, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.265488666995207, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33686429876942237, + 0.35696173270210685, + 0.7611066272240556 + ], + "gripper_position": [ + 0.3293829044974509, + 0.32180436190796863, + 1.0159447496053977 + ], + "target_minus_gripper": [ + 0.0074813942719714754, + 0.03515737079413822, + -0.25483812238134207 + ], + "held_position": [ + 0.3341550924360692, + 0.32627790717970373, + 1.0127799416559684 + ], + "held_minus_target": [ + -0.0027092063333531424, + -0.03068382552240312, + 0.25167331443191276 + ], + "held_minus_gripper": [ + 0.004772187938618333, + 0.004473545271735102, + -0.0031648079494293047 + ], + "xy_dist": 0.03594456817669689, + "held_xy_dist": 0.030803197036118796, + "held_gripper_dist": 0.007266525605578549, + "max_held_gripper_dist": 0.007271027464027893, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240556, + "held_z": 1.0127799416559684, + "required_height": 0.7911066272240557, + "gripper_z": 1.0159447496053977, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20447871248689, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7681408607555118, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1789729332561993, + "max_source_tilt_deg": 89.72282267275597, + "source_upright_tilt_deg": 2.25960430165821, + "max_source_upright_tilt_deg": 89.97178441835617, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1789729332561993, + "source_upright_return_tilt_deg": 2.25960430165821, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.884864366154897e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3369, + 0.357, + 0.7611 + ], + "controller_target_position": [ + 0.3369, + 0.357, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.002, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3353, + 0.3335, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0643, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015184823730515463, + 0.0019540323064954823, + -0.0017096198158533574 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2596093939307775, + "source_return_step_error_deg": 2.1789834627289606, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.258590260311675, + "source_return_best_wrist_position": -1.612971544265747, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612971544265747 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3369, + 0.357, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3369, + 0.357, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.002, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3353, + 0.3335, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0643, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015184823730515463, + 0.0019540323064954823, + -0.0017096198158533574 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2596093939307775, + "pour_controller_source_return_step_error_deg": 2.1789834627289606, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.258590260311675, + "pour_controller_source_return_best_wrist_position": -1.612971544265747, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612971544265747, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03594456817669689, + "valid_pour_held_xy_dist": 0.030803197036118796, + "valid_pour_held_gripper_dist": 0.007266525605578549, + "valid_pour_required_height": 0.7911066272240557, + "valid_pour_held_z": 1.0127799416559684, + "valid_pour_source_tilt_deg": 2.1789729332561993, + "valid_pour_source_upright_tilt_deg": 2.25960430165821, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3341550924360692, + 0.3026140791184453, + 1.0127799416559684 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3229702403058086, + 0.32627790717970373, + 1.0127799416559684 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3285626663709389, + 0.3144459931490745, + 1.0127799416559684 + ], + "valid_pour_held_grasp_object_position": [ + 0.3341550924360692, + 0.32627790717970373, + 1.0127799416559684 + ], + "valid_pour_held_grasp_finger_gap": 0.02617398853229285, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02376076015498232, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01031143461570425, + -0.9992224513440517, + 0.038054790055264014 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005731758860170908, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033435176759747116, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3341550924360692, + 0.3026140791184453, + 1.0127799416559684 + ], + "held_grasp_finger_b": [ + 0.3229702403058086, + 0.32627790717970373, + 1.0127799416559684 + ], + "held_grasp_midpoint": [ + 0.3285626663709389, + 0.3144459931490745, + 1.0127799416559684 + ], + "held_grasp_object_position": [ + 0.3341550924360692, + 0.32627790717970373, + 1.0127799416559684 + ], + "held_grasp_finger_gap": 0.02617398853229285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02376076015498232, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01031143461570425, + -0.9992224513440517, + 0.038054790055264014 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005731758860170908, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033435176759747116, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18221321463425444, + -0.02570122338796306, + 0.7565864026083325 + ], + "target_position": [ + 0.18210752320778184, + -0.032926779261163774, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007226328829659992, + "xy_threshold": 0.08, + "gripper_dist": 0.21767933384491459, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864026083325, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582463833965951, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08723572030856978, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18971326831945584, + "release_required_pad_clearance": 0.053617860154284894, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.245135440483467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 295, + "max_placed_release_frames": 295 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34608288040478685, + 0.35357777122025436, + 1.1634437093679595 + ], + "current_z": 1.1634437093679595, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30233714174854887, + "gripper_z": 1.152241458932412, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34117656443607325, + 0.34875362403686777, + 1.152241458932412 + ], + "object_minus_gripper": [ + 0.004906315968713604, + 0.0048241471833865845, + 0.011202250435547567 + ], + "object_to_gripper_xy": 0.0068807217958460455, + "object_to_gripper_z": 0.011202250435547567, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34608288040478685, + 0.3298726265998231, + 1.1634437093679595 + ], + "finger_b": [ + 0.3347827967437032, + 0.35357777122025436, + 1.1634437093679595 + ], + "finger_midpoint": [ + 0.340432838574245, + 0.3417251989100387, + 1.1634437093679595 + ], + "object_minus_finger_midpoint": [ + 0.005650041830541852, + 0.011852572310215637, + 0.0 + ], + "finger_gap": 0.026260726803023778, + "fingertip_max_gap": 0.0907020813608965, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131303634015119, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634437093679595, + "object_top_z": 1.2135880660260314, + "finger_top_clearance": 0.05014435665807193, + "fingertip_min_top_clearance": 0.015043306997421612, + "object_projection_between_fingers": 0.8148388649457416, + "object_to_finger_line_xy": 0.010200407605554794, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785104068044825, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2735443665561591, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3333678805576154, + -0.3643044724257972, + 0.851539577190116 + ], + "target_position": [ + 0.32873974724492483, + -0.3652027409416022, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004714499367538693, + "xy_threshold": 0.08, + "gripper_dist": 0.1801287141309921, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539577190116, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075853261993451, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559709431197797, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14755706277464062, + "release_required_pad_clearance": 0.05279854715598899, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6440672053136018, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008446753025054932, + "max_z_decrease": 0.008446753025054932, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499173494433382, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008446753025054932, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021096801689270223, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008446753025054932, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008447403618652472, + "max_button_displacement": 0.12, + "button_start": [ + 0.18443967401981348, + -0.42146420478820795, + 0.7768088579177856 + ], + "button_final": [ + 0.18443967401981348, + -0.42146420478820795, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1836096791804041, + -0.4219840799996218, + 0.8041248490713466 + ], + "closest_button": [ + 0.18435007333755488, + -0.42146673798561096, + 0.7691447734832764 + ], + "closest_ee_minus_button": [ + -0.00074039415715077, + -0.0005173420140108242, + 0.03498007558807026 + ], + "button_min_z_position": [ + 0.1843362301588058, + -0.4214471578598022, + 0.7683621048927307 + ], + "min_active_finger_to_button": 0.1467189413969813, + "closest_active_finger": [ + 0.042667925357818604, + -0.406450480222702, + 0.8077517747879028 + ], + "closest_active_finger_button": [ + 0.18444874882698054, + -0.4214731752872467, + 0.7731257081031799 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14178082346916193, + 0.015022695064544678, + 0.0346260666847229 + ], + "min_contact_pad_to_button": 0.021096801689270223, + "closest_contact_pad": [ + 0.1843412667512893, + -0.42304293182337216, + 0.7897702583848052 + ], + "closest_contact_pad_button": [ + 0.1843412667512893, + -0.4214421510696411, + 0.7687342762947083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016007807537310459, + 0.02103598209009694 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 15, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "66aaddb8f0d04181450528a91695c22d83108391376f21a26139f063da5fcb10", + "visual_seed": 3563020733500307886, + "episode_index": 15, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_16_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_16_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3f85156fd0c62235ab253be181bbbfc93b3725f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_16_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 16, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2063335671347236, + -0.03441971087365699, + 0.9953389936393082 + ], + "current_z": 0.9953389936393082, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.1387526054400322, + "gripper_z": 0.998537279203697, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20154121330642985, + -0.039087003585194666, + 0.998537279203697 + ], + "object_minus_gripper": [ + 0.004792353828293738, + 0.0046672927115376725, + -0.0031982855643887254 + ], + "object_to_gripper_xy": 0.006689564744490805, + "object_to_gripper_z": -0.0031982855643887254, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2063335671347236, + -0.058631414535883365, + 0.9953389936393082 + ], + "finger_b": [ + 0.19488050451158945, + -0.03441971087365699, + 0.9953389936393082 + ], + "finger_midpoint": [ + 0.20060703582315653, + -0.04652556270477018, + 0.9953389936393082 + ], + "object_minus_finger_midpoint": [ + 0.005726531311567057, + 0.012105851831113186, + 0.0 + ], + "finger_gap": 0.026783936187142064, + "fingertip_max_gap": 0.09219274552922196, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013391968093571027, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9953389936393082, + "object_top_z": 1.040898995375986, + "finger_top_clearance": 0.045560001736677735, + "fingertip_min_top_clearance": 0.013668000521003304, + "object_projection_between_fingers": 0.8171502093171653, + "object_to_finger_line_xy": 0.010353151841414755, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048596372764610984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6989778599921765, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3374883594002207, + 0.3512884732054182, + 0.7611063888054762 + ], + "gripper_position": [ + 0.3293914340248002, + 0.3140541758067653, + 1.015738291068103 + ], + "target_minus_gripper": [ + 0.008096925375420505, + 0.03723429739865286, + -0.2546319022626268 + ], + "held_position": [ + 0.33423159234990196, + 0.318557080420537, + 1.0123791831600188 + ], + "held_minus_target": [ + -0.003256767050318743, + -0.032731392784881186, + 0.25127279435454264 + ], + "held_minus_gripper": [ + 0.004840158325101762, + 0.004502904613771674, + -0.0033591079080841357 + ], + "xy_dist": 0.03810450240203191, + "held_xy_dist": 0.03289301757604817, + "held_gripper_dist": 0.007415314457993775, + "max_held_gripper_dist": 0.007421915106778219, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054762, + "held_z": 1.0123791831600188, + "required_height": 0.7911063888054762, + "gripper_z": 1.015738291068103, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19956097628449, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.553256466005647, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1743942879263862, + "max_source_tilt_deg": 89.91786003599168, + "source_upright_tilt_deg": 2.5625287098783383, + "max_source_upright_tilt_deg": 89.71407281633113, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1743942879263862, + "source_upright_return_tilt_deg": 2.5625287098783383, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3375, + 0.3513, + 0.7611 + ], + "controller_target_position": [ + 0.3375, + 0.3513, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0014, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3368, + 0.3245, + 1.0251 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0652, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007192796941054335, + -0.0013811977684319565, + -0.001404207446788729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5625358991436498, + "source_return_step_error_deg": 2.174392480469171, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.566340162176916, + "source_return_best_wrist_position": -1.612735390663147, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612735390663147 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3375, + 0.3513, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3375, + 0.3513, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0014, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3368, + 0.3245, + 1.0251 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0652, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007192796941054335, + -0.0013811977684319565, + -0.001404207446788729 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5625358991436498, + "pour_controller_source_return_step_error_deg": 2.174392480469171, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.566340162176916, + "pour_controller_source_return_best_wrist_position": -1.612735390663147, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612735390663147, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03810450240203191, + "valid_pour_held_xy_dist": 0.03289301757604817, + "valid_pour_held_gripper_dist": 0.007415314457993775, + "valid_pour_required_height": 0.7911063888054762, + "valid_pour_held_z": 1.0123791831600188, + "valid_pour_source_tilt_deg": 2.1743942879263862, + "valid_pour_source_upright_tilt_deg": 2.5625287098783383, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33423159234990196, + 0.294858748603714, + 1.0123791831600188 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3229756436853516, + 0.318557080420537, + 1.0123791831600188 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3286036180176268, + 0.30670791451212553, + 1.0123791831600188 + ], + "valid_pour_held_grasp_object_position": [ + 0.33423159234990196, + 0.318557080420537, + 1.0123791831600188 + ], + "valid_pour_held_grasp_finger_gap": 0.026235611508772513, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02394434325825486, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023961461432568033, + -0.9990000334806745, + 0.037746277586366284 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005926988759159267, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033497762316495934, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33423159234990196, + 0.294858748603714, + 1.0123791831600188 + ], + "held_grasp_finger_b": [ + 0.3229756436853516, + 0.318557080420537, + 1.0123791831600188 + ], + "held_grasp_midpoint": [ + 0.3286036180176268, + 0.30670791451212553, + 1.0123791831600188 + ], + "held_grasp_object_position": [ + 0.33423159234990196, + 0.318557080420537, + 1.0123791831600188 + ], + "held_grasp_finger_gap": 0.026235611508772513, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02394434325825486, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023961461432568033, + -0.9990000334806745, + 0.037746277586366284 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005926988759159267, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033497762316495934, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19314579859541317, + -0.032486511531317784, + 0.756586371937223 + ], + "target_position": [ + 0.18488800050455861, + -0.035214155475789904, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00869662410347467, + "xy_threshold": 0.08, + "gripper_dist": 0.22024546698948647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586371937223, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566045146199554, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584945049773544, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19107118628673642, + "release_required_pad_clearance": 0.052924725248867724, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.887345499091262, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3465385849416681, + 0.34951910928690355, + 1.1626153565315107 + ], + "current_z": 1.1626153565315107, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3015089677260345, + "gripper_z": 1.1514237570213635, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3415287568230382, + 0.3448375338153369, + 1.1514237570213635 + ], + "object_minus_gripper": [ + 0.005009828118629933, + 0.004681575471566668, + 0.011191599510147254 + ], + "object_to_gripper_xy": 0.006856786905992471, + "object_to_gripper_z": 0.011191599510147254, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3465385849416681, + 0.32540931963102904, + 1.1626153565315107 + ], + "finger_b": [ + 0.33589182181524424, + 0.34951910928690355, + 1.1626153565315107 + ], + "finger_midpoint": [ + 0.3412152033784562, + 0.3374642144589663, + 1.1626153565315107 + ], + "object_minus_finger_midpoint": [ + 0.0053233815632119375, + 0.012054894827937257, + 0.0 + ], + "finger_gap": 0.026355939033179843, + "fingertip_max_gap": 0.09078863716791227, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013177969516589921, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626153565315107, + "object_top_z": 1.2127149378820394, + "finger_top_clearance": 0.05009958135052872, + "fingertip_min_top_clearance": 0.015029874405158615, + "object_projection_between_fingers": 0.8368157667902174, + "object_to_finger_line_xy": 0.009739407090403739, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04789431858395614, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4191732820504026, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33153565861869905, + -0.368394867661752, + 0.8515395732089198 + ], + "target_position": [ + 0.32808353215793445, + -0.36826888061282326, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00345442467534159, + "xy_threshold": 0.08, + "gripper_dist": 0.1807609154117785, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395732089198, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587817406175822, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08674278925474586, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14789680135630673, + "release_required_pad_clearance": 0.053371394627372934, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7587552656270986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008333325386047363, + "max_z_decrease": 0.008333325386047363, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499302451910726, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008333325386047363, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021211779008141286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008333325386047363, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008334758326310511, + "max_button_displacement": 0.12, + "button_start": [ + 0.18378345668315885, + -0.4245303273200989, + 0.7768088579177856 + ], + "button_final": [ + 0.18378345668315885, + -0.4245303273200989, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18286575282816311, + -0.42322771446968865, + 0.8035629295400752 + ], + "closest_button": [ + 0.18364112079143521, + -0.4244939088821411, + 0.7686014175415039 + ], + "closest_ee_minus_button": [ + -0.0007753679632721, + 0.0012661944124524593, + 0.03496151199857134 + ], + "button_min_z_position": [ + 0.18363599479198453, + -0.4244840741157532, + 0.7684755325317383 + ], + "min_active_finger_to_button": 0.14630424587735985, + "closest_active_finger": [ + 0.05506929010152817, + -0.48468005657196045, + 0.807976245880127 + ], + "closest_active_finger_button": [ + 0.18380631506443024, + -0.4245383739471435, + 0.7731238603591919 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12873702496290207, + -0.06014168262481695, + 0.03485238552093506 + ], + "min_contact_pad_to_button": 0.021211779008141286, + "closest_contact_pad": [ + 0.18363599479198453, + -0.4245208934533537, + 0.7896872795844118 + ], + "closest_contact_pad_button": [ + 0.18363599479198453, + -0.4244840741157532, + 0.7684755325317383 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -3.681933760052436e-05, + 0.02121174705267348 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 16, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1cb6a54ded14ef0461179f8cd85eb863871efc7b11a1a08331b61f843dcba7c9", + "visual_seed": 409429646550250880, + "episode_index": 16, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_17_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_17_success.json new file mode 100644 index 0000000000000000000000000000000000000000..86b08f60a35df081e30885b0ee115bc2f0c50b04 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_17_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 17, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2022893815987851, + -0.036455065835096674, + 0.9952266663616718 + ], + "current_z": 0.9952266663616718, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13864015895310622, + "gripper_z": 0.9983265485185256, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1975613184990807, + -0.04098245714346936, + 0.9983265485185256 + ], + "object_minus_gripper": [ + 0.004728063099704388, + 0.004527391308372687, + -0.0030998821568538615 + ], + "object_to_gripper_xy": 0.006546132654775247, + "object_to_gripper_z": -0.0030998821568538615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2022893815987851, + -0.06081590399275071, + 0.9952266663616718 + ], + "finger_b": [ + 0.19127493090731407, + -0.036455065835096674, + 0.9952266663616718 + ], + "finger_midpoint": [ + 0.19678215625304957, + -0.04863548491392369, + 0.9952266663616718 + ], + "object_minus_finger_midpoint": [ + 0.005507225345735528, + 0.01218041907882702, + 0.0 + ], + "finger_gap": 0.026735155877201457, + "fingertip_max_gap": 0.09182016994990361, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013367577938600734, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952266663616718, + "object_top_z": 1.04075478034976, + "finger_top_clearance": 0.045528113988088315, + "fingertip_min_top_clearance": 0.013658434196426511, + "object_projection_between_fingers": 0.8302693614944636, + "object_to_finger_line_xy": 0.01003627029230074, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048410084974951806, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3339226376985394, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33666062969822497, + 0.35470131595596743, + 0.7611063292008317 + ], + "gripper_position": [ + 0.3294368869100469, + 0.3189060154287834, + 1.0163014542424533 + ], + "target_minus_gripper": [ + 0.007223742788178056, + 0.03579530052718405, + -0.2551951250416217 + ], + "held_position": [ + 0.3341402703524372, + 0.3233511829717276, + 1.013047509760277 + ], + "held_minus_target": [ + -0.0025203593457877593, + -0.03135013298423983, + 0.25194118055944525 + ], + "held_minus_gripper": [ + 0.0047033834423902965, + 0.004445167542944217, + -0.0032539444821764185 + ], + "xy_dist": 0.03651692757751091, + "held_xy_dist": 0.03145128056791046, + "held_gripper_dist": 0.007243582330869325, + "max_held_gripper_dist": 0.007249583379305065, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.013047509760277, + "required_height": 0.7911063292008317, + "gripper_z": 1.0163014542424533, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20197886325067, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9761869648309436, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.17606881567183, + "max_source_tilt_deg": 89.57434450949206, + "source_upright_tilt_deg": 2.9364548920520224, + "max_source_upright_tilt_deg": 89.61197166196585, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.17606881567183, + "source_upright_return_tilt_deg": 2.9364548920520224, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3367, + 0.3547, + 0.7611 + ], + "controller_target_position": [ + 0.3367, + 0.3547, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3364, + 0.3295, + 1.026 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0659, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003051366495628973, + 0.00015823471389154933, + -0.000526646062416368 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.936233326792896, + "source_return_step_error_deg": 2.175902171992319, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9357935015170504, + "source_return_best_wrist_position": -1.6127878427505493, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127878427505493 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3367, + 0.3547, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3367, + 0.3547, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0002, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3364, + 0.3295, + 1.026 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0659, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003051366495628973, + 0.00015823471389154933, + -0.000526646062416368 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.936233326792896, + "pour_controller_source_return_step_error_deg": 2.175902171992319, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9357935015170504, + "pour_controller_source_return_best_wrist_position": -1.6127878427505493, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127878427505493, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03651692757751091, + "valid_pour_held_xy_dist": 0.03145128056791046, + "valid_pour_held_gripper_dist": 0.007243582330869325, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.013047509760277, + "valid_pour_source_tilt_deg": 2.17606881567183, + "valid_pour_source_upright_tilt_deg": 2.9364548920520224, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3341402703524372, + 0.2997627125216277, + 1.013047509760277 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3229544711237877, + 0.3233511829717276, + 1.013047509760277 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32854737073811247, + 0.31155694774667764, + 1.013047509760277 + ], + "valid_pour_held_grasp_object_position": [ + 0.3341402703524372, + 0.3233511829717276, + 1.013047509760277 + ], + "valid_pour_held_grasp_finger_gap": 0.026106283583821163, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02393580978302639, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.033820701918807504, + -0.9986869751230888, + 0.03847708202572219 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006005483956079764, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03361063165573336, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3341402703524372, + 0.2997627125216277, + 1.013047509760277 + ], + "held_grasp_finger_b": [ + 0.3229544711237877, + 0.3233511829717276, + 1.013047509760277 + ], + "held_grasp_midpoint": [ + 0.32854737073811247, + 0.31155694774667764, + 1.013047509760277 + ], + "held_grasp_object_position": [ + 0.3341402703524372, + 0.3233511829717276, + 1.013047509760277 + ], + "held_grasp_finger_gap": 0.026106283583821163, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02393580978302639, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.033820701918807504, + -0.9986869751230888, + 0.03847708202572219 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006005483956079764, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03361063165573336, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18364045512731067, + -0.03415734257638002, + 0.7565862603827915 + ], + "target_position": [ + 0.1806890492174924, + -0.03795025244384666, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004805929889962605, + "xy_threshold": 0.08, + "gripper_dist": 0.2173525776075774, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862603827915, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531262450192228, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08647993553834636, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1894781041744939, + "release_required_pad_clearance": 0.05323996776917318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5003418105800426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 285, + "max_placed_release_frames": 285 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34561393931723206, + 0.35137123051169766, + 1.165604669436426 + ], + "current_z": 1.165604669436426, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.3044983402355943, + "gripper_z": 1.1542273137287933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3406857917316176, + 0.3466209367511822, + 1.1542273137287933 + ], + "object_minus_gripper": [ + 0.00492814758561444, + 0.004750293760515445, + 0.011377355707632653 + ], + "object_to_gripper_xy": 0.0068448469257383245, + "object_to_gripper_z": 0.011377355707632653, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34561393931723206, + 0.3272750195966751, + 1.165604669436426 + ], + "finger_b": [ + 0.3349473252321637, + 0.35137123051169766, + 1.165604669436426 + ], + "finger_midpoint": [ + 0.34028063227469785, + 0.3393231250541864, + 1.165604669436426 + ], + "object_minus_finger_midpoint": [ + 0.005333307042534208, + 0.012048105457511282, + 0.0 + ], + "finger_gap": 0.02635154713676279, + "fingertip_max_gap": 0.0902823848809349, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013175773568381408, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165604669436426, + "object_top_z": 1.215528516949619, + "finger_top_clearance": 0.04992384751319312, + "fingertip_min_top_clearance": 0.014977154253957903, + "object_projection_between_fingers": 0.83615208141203, + "object_to_finger_line_xy": 0.009753696107823001, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04764119244046745, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2784065449461801, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3288943512023562, + -0.36733181137513804, + 0.8515396015552028 + ], + "target_position": [ + 0.3216483841030582, + -0.36894029385587435, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007422348354459334, + "xy_threshold": 0.08, + "gripper_dist": 0.18524026100017527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396015552028, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590705157619562, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08837685260719534, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1525532217465068, + "release_required_pad_clearance": 0.05418842630359767, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.393011687825601, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008688271045684814, + "max_z_decrease": 0.008688271045684814, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035031520897845156, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008688271045684814, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020970969828097444, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008688271045684814, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00868934733068767, + "max_button_displacement": 0.12, + "button_start": [ + 0.17734831571578974, + -0.42520174384117126, + 0.7768088579177856 + ], + "button_final": [ + 0.17734831571578974, + -0.42520174384117126, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17875820971034942, + -0.4246580957839708, + 0.8038853810462897 + ], + "closest_button": [ + 0.1772327274084091, + -0.4251675307750702, + 0.7688907980918884 + ], + "closest_ee_minus_button": [ + 0.0015254823019403285, + 0.0005094349910994, + 0.03499458295440128 + ], + "button_min_z_position": [ + 0.17721799015998835, + -0.4251602888107299, + 0.7681205868721008 + ], + "min_active_finger_to_button": 0.14440424814408406, + "closest_active_finger": [ + 0.05228840559720993, + -0.4887039065361023, + 0.8111140131950378 + ], + "closest_active_finger_button": [ + 0.17735469341278073, + -0.4252050817012787, + 0.7767787575721741 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1250662878155708, + -0.06349882483482361, + 0.03433525562286377 + ], + "min_contact_pad_to_button": 0.020970969828097444, + "closest_contact_pad": [ + 0.17721799015998835, + -0.4256848430073633, + 0.789084995245002 + ], + "closest_contact_pad_button": [ + 0.17721799015998835, + -0.4251602888107299, + 0.7681205868721008 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005245541966333866, + 0.020964408372901144 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 17, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "6f962c7abd478193af2d28f1d635cf74a7f66fce946f28994e0352767d8c0c01", + "visual_seed": 3896164717970600933, + "episode_index": 17, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_18_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_18_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fe8fc20fe0bbca6f09bc8cf39ea8e3ff1648f58f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_18_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 18, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2069759514155627, + -0.03635096480948125, + 0.9975684755180667 + ], + "current_z": 0.9975684755180667, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14098196810950114, + "gripper_z": 1.001154357527964, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2023714114588156, + -0.04100992525864476, + 1.001154357527964 + ], + "object_minus_gripper": [ + 0.004604539956747089, + 0.004658960449163509, + -0.00358588200989729 + ], + "object_to_gripper_xy": 0.006550396986454357, + "object_to_gripper_z": -0.00358588200989729, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2069759514155627, + -0.0603100863703024, + 0.9975684755180667 + ], + "finger_b": [ + 0.19526230015811347, + -0.03635096480948125, + 0.9975684755180667 + ], + "finger_midpoint": [ + 0.20111912578683808, + -0.04833052558989183, + 0.9975684755180667 + ], + "object_minus_finger_midpoint": [ + 0.00585682562872461, + 0.011979560780410577, + 0.0 + ], + "finger_gap": 0.026669254428036537, + "fingertip_max_gap": 0.09181974659091591, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013334627214018272, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9975684755180667, + "object_top_z": 1.0428425733943962, + "finger_top_clearance": 0.04527409787632952, + "fingertip_min_top_clearance": 0.013582229362898839, + "object_projection_between_fingers": 0.8070864066377772, + "object_to_finger_line_xy": 0.010523308597005785, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048409873295457956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7291636351895168, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3438907029118021, + 0.3545902725027508, + 0.7611062695961867 + ], + "gripper_position": [ + 0.338075322104594, + 0.31977644313618914, + 1.0167960488482928 + ], + "target_minus_gripper": [ + 0.005815380807208115, + 0.03481382936656169, + -0.2556897792521061 + ], + "held_position": [ + 0.34283934216566553, + 0.32417429069011905, + 1.0130900966968117 + ], + "held_minus_target": [ + -0.0010513607461365981, + -0.030415981812631776, + 0.25198382710062506 + ], + "held_minus_gripper": [ + 0.004764020061071517, + 0.004397847553929912, + -0.0037059521514810623 + ], + "xy_dist": 0.0352961948246113, + "held_xy_dist": 0.030434147089163907, + "held_gripper_dist": 0.00746800050876848, + "max_held_gripper_dist": 0.007472468652172809, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961867, + "held_z": 1.0130900966968117, + "required_height": 0.7911062695961867, + "gripper_z": 1.0167960488482928, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20154173114379, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.829858961092958, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.225913125438485, + "max_source_tilt_deg": 89.66292155647241, + "source_upright_tilt_deg": 2.2641511686983633, + "max_source_upright_tilt_deg": 89.86662746855055, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.225913125438485, + "source_upright_return_tilt_deg": 2.2641511686983633, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.429369702178807e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3439, + 0.3546, + 0.7611 + ], + "controller_target_position": [ + 0.3439, + 0.3546, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0014, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3457, + 0.3305, + 1.0255 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0663, + 0.0641, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018482125274223433, + 0.0013568438354913909, + -0.001128156655857491 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.264168075282967, + "source_return_step_error_deg": 2.225933722488128, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.263716391963481, + "source_return_best_wrist_position": -1.6127899885177612, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127899885177612 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3439, + 0.3546, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3439, + 0.3546, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0014, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3457, + 0.3305, + 1.0255 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0663, + 0.0641, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018482125274223433, + 0.0013568438354913909, + -0.001128156655857491 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.264168075282967, + "pour_controller_source_return_step_error_deg": 2.225933722488128, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.263716391963481, + "pour_controller_source_return_best_wrist_position": -1.6127899885177612, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127899885177612, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0352961948246113, + "valid_pour_held_xy_dist": 0.030434147089163907, + "valid_pour_held_gripper_dist": 0.00746800050876848, + "valid_pour_required_height": 0.7911062695961867, + "valid_pour_held_z": 1.0130900966968117, + "valid_pour_source_tilt_deg": 2.225913125438485, + "valid_pour_source_upright_tilt_deg": 2.2641511686983633, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.429369702178807e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34283934216566553, + 0.3004560160522053, + 1.0130900966968117 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3318331195167127, + 0.32417429069011905, + 1.0130900966968117 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33733623084118913, + 0.31231515337116217, + 1.0130900966968117 + ], + "valid_pour_held_grasp_object_position": [ + 0.34283934216566553, + 0.32417429069011905, + 1.0130900966968117 + ], + "valid_pour_held_grasp_finger_gap": 0.02614753313025582, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023757426615453076, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.005239614978002258, + -0.9992193196264889, + 0.039157345671775534 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005584466738827728, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03337918002712692, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34283934216566553, + 0.3004560160522053, + 1.0130900966968117 + ], + "held_grasp_finger_b": [ + 0.3318331195167127, + 0.32417429069011905, + 1.0130900966968117 + ], + "held_grasp_midpoint": [ + 0.33733623084118913, + 0.31231515337116217, + 1.0130900966968117 + ], + "held_grasp_object_position": [ + 0.34283934216566553, + 0.32417429069011905, + 1.0130900966968117 + ], + "held_grasp_finger_gap": 0.02614753313025582, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023757426615453076, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.005239614978002258, + -0.9992193196264889, + 0.039157345671775534 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005584466738827728, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03337918002712692, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18593879264768576, + -0.03439299369068523, + 0.7565865849314026 + ], + "target_position": [ + 0.18289643419144877, + -0.03858130944852375, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0051766720838387235, + "xy_threshold": 0.08, + "gripper_dist": 0.21692077365276136, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865849314026, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07568431816431445, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08916053005677106, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18864700690695102, + "release_required_pad_clearance": 0.05458026502838553, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.196329616581907, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 281, + "max_placed_release_frames": 281 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3527530079007046, + 0.3498098462790755, + 1.1641186984393075 + ], + "current_z": 1.1641186984393075, + "required_z": 0.8611062695961866, + "initial_z": 0.7611062695961867, + "lift_margin": 0.30301242884312085, + "gripper_z": 1.1527685576679978, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34814257285376365, + 0.3451669932227325, + 1.1527685576679978 + ], + "object_minus_gripper": [ + 0.0046104350469409194, + 0.004642853056343044, + 0.011350140771309691 + ], + "object_to_gripper_xy": 0.0065431029202401405, + "object_to_gripper_z": 0.011350140771309691, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3527530079007046, + 0.3258840274053021, + 1.1641186984393075 + ], + "finger_b": [ + 0.3422761397309669, + 0.3498098462790755, + 1.1641186984393075 + ], + "finger_midpoint": [ + 0.3475145738158357, + 0.3378469368421888, + 1.1641186984393075 + ], + "object_minus_finger_midpoint": [ + 0.005238434084868848, + 0.011962909436886715, + 0.0 + ], + "finger_gap": 0.026119141935114863, + "fingertip_max_gap": 0.09037989204986444, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013059570967557431, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641186984393075, + "object_top_z": 1.2141487648549851, + "finger_top_clearance": 0.05003006641567764, + "fingertip_min_top_clearance": 0.015009019924703292, + "object_projection_between_fingers": 0.8391040369414157, + "object_to_finger_line_xy": 0.009597085953905155, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768994602493222, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.49572965728196905, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33068156109040203, + -0.36580008572439204, + 0.8515395765007969 + ], + "target_position": [ + 0.3243465096707122, + -0.36694036546840114, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006436855939409507, + "xy_threshold": 0.08, + "gripper_dist": 0.18492404270347146, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395765007969, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756371122846086, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08531056715801254, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15276568855177458, + "release_required_pad_clearance": 0.05265528357900627, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.36903494366296924, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008715391159057617, + "max_z_decrease": 0.008715391159057617, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499872220249515, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008715391159057617, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.02103473726135274, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008715391159057617, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008716565297749784, + "max_button_displacement": 0.12, + "button_start": [ + 0.1800464391708374, + -0.4232018291950226, + 0.7768088579177856 + ], + "button_final": [ + 0.1800464391708374, + -0.4232018291950226, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1804890122523396, + -0.42388292293910423, + 0.8038531184397791 + ], + "closest_button": [ + 0.17993053793907163, + -0.4231696724891662, + 0.7688661217689514 + ], + "closest_ee_minus_button": [ + 0.0005584743132679704, + -0.0007132504499380299, + 0.03498699667082772 + ], + "button_min_z_position": [ + 0.17991121113300323, + -0.42315512895584106, + 0.768093466758728 + ], + "min_active_finger_to_button": 0.14536163229571408, + "closest_active_finger": [ + 0.03950783610343933, + -0.4093888998031616, + 0.810537576675415 + ], + "closest_active_finger_button": [ + 0.18005160987377167, + -0.4232083857059478, + 0.7760923504829407 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14054377377033234, + 0.0138194859027862, + 0.034445226192474365 + ], + "min_contact_pad_to_button": 0.02103473726135274, + "closest_contact_pad": [ + 0.17991121113300323, + -0.424874028786692, + 0.789057854539573 + ], + "closest_contact_pad_button": [ + 0.17991121113300323, + -0.42315512895584106, + 0.768093466758728 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0017188998308509396, + 0.020964387780844973 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 18, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e158b61ed06870932b9dc51f0fc7077dd12f8a9d7e8ac08e2e739dcf95abed04", + "visual_seed": 6887764259912422101, + "episode_index": 18, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_19_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_19_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2cb4d2c1bdf7cb1f41ae2f56018ae86b573756a1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_19_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 19, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20343935602645186, + -0.034758094573276756, + 0.9983591648455157 + ], + "current_z": 0.9983591648455157, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1417726574369501, + "gripper_z": 1.0014021290348103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1987111396944442, + -0.039327013227738836, + 1.0014021290348103 + ], + "object_minus_gripper": [ + 0.004728216332007651, + 0.00456891865446208, + -0.003042964189294617 + ], + "object_to_gripper_xy": 0.006575032118047445, + "object_to_gripper_z": -0.003042964189294617, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20343935602645186, + -0.059045697490600714, + 0.9983591648455157 + ], + "finger_b": [ + 0.19227912589659343, + -0.034758094573276756, + 0.9983591648455157 + ], + "finger_midpoint": [ + 0.19785924096152263, + -0.046901896031938735, + 0.9983591648455157 + ], + "object_minus_finger_midpoint": [ + 0.005580115064929225, + 0.012143801458661979, + 0.0 + ], + "finger_gap": 0.02672898037750417, + "fingertip_max_gap": 0.09186197887334391, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013364490188752092, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983591648455157, + "object_top_z": 1.0439198383796993, + "finger_top_clearance": 0.04556067353418358, + "fingertip_min_top_clearance": 0.013668202060255074, + "object_projection_between_fingers": 0.8256662324667763, + "object_to_finger_line_xy": 0.010140874587497689, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048430989436671956, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3483973003842415, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34011090416569334, + 0.35716564019188357, + 0.7611062695961871 + ], + "gripper_position": [ + 0.3343426262959327, + 0.3225156125928579, + 1.016459989754055 + ], + "target_minus_gripper": [ + 0.005768277869760641, + 0.03465002759902569, + -0.25535372015786784 + ], + "held_position": [ + 0.3390736534194747, + 0.32697363186107564, + 1.0132598344710326 + ], + "held_minus_target": [ + -0.001037250746218632, + -0.03019200833080793, + 0.2521535648748455 + ], + "held_minus_gripper": [ + 0.004731027123542009, + 0.004458019268217761, + -0.00320015528302231 + ], + "xy_dist": 0.035126876351250086, + "held_xy_dist": 0.030209820525089297, + "held_gripper_dist": 0.007245519117009256, + "max_held_gripper_dist": 0.00725079793138338, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961871, + "held_z": 1.0132598344710326, + "required_height": 0.7911062695961871, + "gripper_z": 1.016459989754055, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20441041059519, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6727938687571415, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.178710211010758, + "max_source_tilt_deg": 89.83524896352058, + "source_upright_tilt_deg": 2.700573875174795, + "max_source_upright_tilt_deg": 89.68157687738713, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.178710211010758, + "source_upright_return_tilt_deg": 2.700573875174795, + "missing_source_orientation_samples": 0, + "target_xy_drift": 9.424321830774485e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3401, + 0.3572, + 0.7611 + ], + "controller_target_position": [ + 0.3401, + 0.3572, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0014, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3418, + 0.3332, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0654, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017098811890065616, + 0.0013761798026262922, + -0.0010626466512458211 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.70058432214991, + "source_return_step_error_deg": 2.1787286519910243, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.701406804929411, + "source_return_best_wrist_position": -1.6128650903701782, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128650903701782 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3401, + 0.3572, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3401, + 0.3572, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0014, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3418, + 0.3332, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0654, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017098811890065616, + 0.0013761798026262922, + -0.0010626466512458211 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.70058432214991, + "pour_controller_source_return_step_error_deg": 2.1787286519910243, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.701406804929411, + "pour_controller_source_return_best_wrist_position": -1.6128650903701782, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128650903701782, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035126876351250086, + "valid_pour_held_xy_dist": 0.030209820525089297, + "valid_pour_held_gripper_dist": 0.007245519117009256, + "valid_pour_required_height": 0.7911062695961871, + "valid_pour_held_z": 1.0132598344710326, + "valid_pour_source_tilt_deg": 2.178710211010758, + "valid_pour_source_upright_tilt_deg": 2.700573875174795, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 9.424321830774485e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3390736534194747, + 0.30335345220727095, + 1.0132598344710326 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32788941579448705, + 0.32697363186107564, + 1.0132598344710326 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3334815346069809, + 0.3151635420341733, + 1.0132598344710326 + ], + "valid_pour_held_grasp_object_position": [ + 0.3390736534194747, + 0.32697363186107564, + 1.0132598344710326 + ], + "valid_pour_held_grasp_finger_gap": 0.02613426980288906, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023902947358676485, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027628165067308183, + -0.9988894132573143, + 0.038165751367845835 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059331964658912405, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033557751249727694, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3390736534194747, + 0.30335345220727095, + 1.0132598344710326 + ], + "held_grasp_finger_b": [ + 0.32788941579448705, + 0.32697363186107564, + 1.0132598344710326 + ], + "held_grasp_midpoint": [ + 0.3334815346069809, + 0.3151635420341733, + 1.0132598344710326 + ], + "held_grasp_object_position": [ + 0.3390736534194747, + 0.32697363186107564, + 1.0132598344710326 + ], + "held_grasp_finger_gap": 0.02613426980288906, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023902947358676485, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027628165067308183, + -0.9988894132573143, + 0.038165751367845835 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059331964658912405, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033557751249727694, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1835674023362901, + -0.031641547124528574, + 0.7565863383459207 + ], + "target_position": [ + 0.18212448811560858, + -0.03456198495168461, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0032574466304958584, + "xy_threshold": 0.08, + "gripper_dist": 0.21852576949172423, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863383459207, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524830052739583, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08704662054495572, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19058740506558708, + "release_required_pad_clearance": 0.053523310272477864, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.057771438069996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 300, + "max_placed_release_frames": 300 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3486588693715951, + 0.3561435862718937, + 1.1622787454104428 + ], + "current_z": 1.1622787454104428, + "required_z": 0.8611062695961871, + "initial_z": 0.7611062695961871, + "lift_margin": 0.30117247581425577, + "gripper_z": 1.151185289577305, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3440927821047264, + 0.351465514812012, + 1.151185289577305 + ], + "object_minus_gripper": [ + 0.004566087266868746, + 0.004678071459881694, + 0.011093455833137922 + ], + "object_to_gripper_xy": 0.006537086928626584, + "object_to_gripper_z": 0.011093455833137922, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3486588693715951, + 0.33247015999716656, + 1.1622787454104428 + ], + "finger_b": [ + 0.33787453342006135, + 0.3561435862718937, + 1.1622787454104428 + ], + "finger_midpoint": [ + 0.34326670139582827, + 0.3443068731345301, + 1.1622787454104428 + ], + "object_minus_finger_midpoint": [ + 0.0053921679757668595, + 0.011836713137363564, + 0.0 + ], + "finger_gap": 0.026014092594216786, + "fingertip_max_gap": 0.0905539677065483, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01300704629710838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1622787454104428, + "object_top_z": 1.2121154997180856, + "finger_top_clearance": 0.04983675430764278, + "fingertip_min_top_clearance": 0.014951026292292835, + "object_projection_between_fingers": 0.8281421186858345, + "object_to_finger_line_xy": 0.009813995285281677, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047776983853274155, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.46058884602124506, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32727458234497503, + -0.3667852870691995, + 0.8515395584504102 + ], + "target_position": [ + 0.32187150268890063, + -0.3670280656117393, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005408531333976234, + "xy_threshold": 0.08, + "gripper_dist": 0.18352440516753793, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395584504102, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515493685037536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855472449415892, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15240124415046374, + "release_required_pad_clearance": 0.052773622470794604, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5961027092731419, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008571207523345947, + "max_z_decrease": 0.008571207523345947, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035026416575257055, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008571207523345947, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021243601629341507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008571207523345947, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008572141895937038, + "max_button_displacement": 0.12, + "button_start": [ + 0.17757143080234528, + -0.42328953742980957, + 0.7768088579177856 + ], + "button_final": [ + 0.17757143080234528, + -0.42328953742980957, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1759509831652681, + -0.42462001577398595, + 0.803986972910652 + ], + "closest_button": [ + 0.17746679484844208, + -0.4232637584209442, + 0.7690196633338928 + ], + "closest_ee_minus_button": [ + -0.0015158116831739676, + -0.0013562573530417343, + 0.0349673095767592 + ], + "button_min_z_position": [ + 0.17744991183280945, + -0.4232541620731354, + 0.7682376503944397 + ], + "min_active_finger_to_button": 0.1473416656230382, + "closest_active_finger": [ + 0.03536822646856308, + -0.40646883845329285, + 0.807437539100647 + ], + "closest_active_finger_button": [ + 0.17758163809776306, + -0.42330121994018555, + 0.7727736830711365 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14221341162919998, + 0.0168323814868927, + 0.0346638560295105 + ], + "min_contact_pad_to_button": 0.021243601629341507, + "closest_contact_pad": [ + 0.17745952308177948, + -0.4259247546334236, + 0.7896920196297351 + ], + "closest_contact_pad_button": [ + 0.17745952308177948, + -0.42325538396835327, + 0.768616795539856 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0026693706650703364, + 0.021075224089879163 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 19, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8f36866950e4525c5dc1a23a36872350823314458ef6a50dee2d4104362c1073", + "visual_seed": 6138826214692702481, + "episode_index": 19, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_1_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_1_success.json new file mode 100644 index 0000000000000000000000000000000000000000..18a05e73913d52500aa7dbbd662567428e895e44 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_1_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 1, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20515881218716284, + -0.027813974666549505, + 0.9971095936799619 + ], + "current_z": 0.9971095936799619, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1405230862713963, + "gripper_z": 1.0005520864181248, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20044352053139794, + -0.03254675167974799, + 1.0005520864181248 + ], + "object_minus_gripper": [ + 0.004715291655764897, + 0.004732777013198488, + -0.0034424927381628834 + ], + "object_to_gripper_xy": 0.006680804865851574, + "object_to_gripper_z": -0.0034424927381628834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20515881218716284, + -0.05179648972111166, + 0.9971095936799619 + ], + "finger_b": [ + 0.1933385800195388, + -0.027813974666549505, + 0.9971095936799619 + ], + "finger_midpoint": [ + 0.19924869610335083, + -0.03980523219383058, + 0.9971095936799619 + ], + "object_minus_finger_midpoint": [ + 0.005910116083812006, + 0.011991257527281075, + 0.0 + ], + "finger_gap": 0.026737219691636498, + "fingertip_max_gap": 0.09189103431913179, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01336860984581824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971095936799619, + "object_top_z": 1.0424529778778775, + "finger_top_clearance": 0.045343384197915615, + "fingertip_min_top_clearance": 0.0136030152593747, + "object_projection_between_fingers": 0.8045572680834386, + "object_to_finger_line_xy": 0.010602407399791711, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048445517159565896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6665412002738922, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.338223880716749, + 0.35784197409614993, + 0.7611063888054762 + ], + "gripper_position": [ + 0.3317358979403283, + 0.3222747514445736, + 1.0167932323224134 + ], + "target_minus_gripper": [ + 0.006487982776420709, + 0.0355672226515763, + -0.25568684351693716 + ], + "held_position": [ + 0.33661557962718835, + 0.32672513872829057, + 1.0132048496042825 + ], + "held_minus_target": [ + -0.0016083010895606709, + -0.031116835367859363, + 0.25209846079880627 + ], + "held_minus_gripper": [ + 0.004879681686860038, + 0.004450387283716939, + -0.003588382718130889 + ], + "xy_dist": 0.036154131819944646, + "held_xy_dist": 0.031158370876943252, + "held_gripper_dist": 0.007516231161421733, + "max_held_gripper_dist": 0.0075208366949297365, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054762, + "held_z": 1.0132048496042825, + "required_height": 0.7911063888054762, + "gripper_z": 1.0167932323224134, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19824274977468, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.703915960852122, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2543629210827216, + "max_source_tilt_deg": 89.5870996790801, + "source_upright_tilt_deg": 2.31109278535344, + "max_source_upright_tilt_deg": 89.81200432750839, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2543629210827216, + "source_upright_return_tilt_deg": 2.31109278535344, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.2644054553268208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3382, + 0.3578, + 0.7611 + ], + "controller_target_position": [ + 0.3382, + 0.3578, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0007, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3383, + 0.3331, + 1.0264 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0661, + 0.0639, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 9.919622328461017e-05, + 0.0007436663979740197, + -0.0002443677343570202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3110695695886423, + "source_return_step_error_deg": 2.2543446869132215, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.310708285278812, + "source_return_best_wrist_position": -1.6126320362091064, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126320362091064 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3382, + 0.3578, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3382, + 0.3578, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0007, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3383, + 0.3331, + 1.0264 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0661, + 0.0639, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 9.919622328461017e-05, + 0.0007436663979740197, + -0.0002443677343570202 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3110695695886423, + "pour_controller_source_return_step_error_deg": 2.2543446869132215, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.310708285278812, + "pour_controller_source_return_best_wrist_position": -1.6126320362091064, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126320362091064, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036154131819944646, + "valid_pour_held_xy_dist": 0.031158370876943252, + "valid_pour_held_gripper_dist": 0.007516231161421733, + "valid_pour_required_height": 0.7911063888054762, + "valid_pour_held_z": 1.0132048496042825, + "valid_pour_source_tilt_deg": 2.2543629210827216, + "valid_pour_source_upright_tilt_deg": 2.31109278535344, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33661557962718835, + 0.30290411913359455, + 1.0132048496042825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3255519871936808, + 0.32672513872829057, + 1.0132048496042825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33108378341043454, + 0.3148146289309426, + 1.0132048496042825 + ], + "valid_pour_held_grasp_object_position": [ + 0.33661557962718835, + 0.32672513872829057, + 1.0132048496042825 + ], + "valid_pour_held_grasp_finger_gap": 0.026264882487185382, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023807165139265694, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0004990375232793467, + -0.9991866173855454, + 0.04032188734647967 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005558520254340382, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03330216354394452, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33661557962718835, + 0.30290411913359455, + 1.0132048496042825 + ], + "held_grasp_finger_b": [ + 0.3255519871936808, + 0.32672513872829057, + 1.0132048496042825 + ], + "held_grasp_midpoint": [ + 0.33108378341043454, + 0.3148146289309426, + 1.0132048496042825 + ], + "held_grasp_object_position": [ + 0.33661557962718835, + 0.32672513872829057, + 1.0132048496042825 + ], + "held_grasp_finger_gap": 0.026264882487185382, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023807165139265694, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0004990375232793467, + -0.9991866173855454, + 0.04032188734647967 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005558520254340382, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03330216354394452, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19057074992458145, + -0.02497537705323052, + 0.7565862687714126 + ], + "target_position": [ + 0.18273656003910027, + -0.028832638087492108, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008732296023853543, + "xy_threshold": 0.08, + "gripper_dist": 0.22047753526026626, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862687714126, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075413572237701, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08552353046080215, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1920480839557462, + "release_required_pad_clearance": 0.052761765230401075, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5733473087571372, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34724898353370137, + 0.35486507896542574, + 1.164884980329731 + ], + "current_z": 1.164884980329731, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.30377865112889957, + "gripper_z": 1.1535627162010285, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34251062456359926, + 0.35003066907036284, + 1.1535627162010285 + ], + "object_minus_gripper": [ + 0.004738358970102108, + 0.004834409895062897, + 0.01132226412870252 + ], + "object_to_gripper_xy": 0.006769310508687658, + "object_to_gripper_z": 0.01132226412870252, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34724898353370137, + 0.33100336921179496, + 1.164884980329731 + ], + "finger_b": [ + 0.3363080667765947, + 0.35486507896542574, + 1.164884980329731 + ], + "finger_midpoint": [ + 0.34177852515514806, + 0.34293422408861035, + 1.164884980329731 + ], + "object_minus_finger_midpoint": [ + 0.005470458378553311, + 0.011930854876815389, + 0.0 + ], + "finger_gap": 0.026250425746118022, + "fingertip_max_gap": 0.09025267042004734, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013125212873058999, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164884980329731, + "object_top_z": 1.214899143861992, + "finger_top_clearance": 0.05001416353226107, + "fingertip_min_top_clearance": 0.01500424905967832, + "object_projection_between_fingers": 0.8262860384114666, + "object_to_finger_line_xy": 0.009945323653858192, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04762633521002367, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40167695898646305, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3375897378675269, + -0.3621147390122729, + 0.85153951991236 + ], + "target_position": [ + 0.3298813857445775, + -0.3641814262598418, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007980594503584449, + "xy_threshold": 0.08, + "gripper_dist": 0.18427214836642541, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153951991236, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549506990132475, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559853357992174, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15248738849756524, + "release_required_pad_clearance": 0.05279926678996087, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6452812716663698, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008388817310333252, + "max_z_decrease": 0.008388817310333252, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034983941945643936, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008388817310333252, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021253543171864352, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008388817310333252, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008389026420120873, + "max_button_displacement": 0.12, + "button_start": [ + 0.18558131158351898, + -0.42044287919998174, + 0.7768088579177856 + ], + "button_final": [ + 0.18558131158351898, + -0.42044287919998174, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18495486261610738, + -0.4210556797399354, + 0.8064415364324211 + ], + "closest_button": [ + 0.1855987161397934, + -0.42044347524642944, + 0.7714688777923584 + ], + "closest_ee_minus_button": [ + -0.000643853523686011, + -0.0006122044935059634, + 0.034972658640062715 + ], + "button_min_z_position": [ + 0.18552546203136444, + -0.4204231500625611, + 0.7684200406074524 + ], + "min_active_finger_to_button": 0.14646621577788752, + "closest_active_finger": [ + 0.044294022023677826, + -0.4040665626525879, + 0.8080780506134033 + ], + "closest_active_finger_button": [ + 0.1855977028608322, + -0.4204478859901428, + 0.773188591003418 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14130368083715436, + 0.01638132333755493, + 0.03488945960998535 + ], + "min_contact_pad_to_button": 0.021253543171864352, + "closest_contact_pad": [ + 0.18552546203136444, + -0.42227925611499045, + 0.789592380291116 + ], + "closest_contact_pad_button": [ + 0.18552546203136444, + -0.4204231500625611, + 0.7684200406074524 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018561060524293627, + 0.02117233968366361 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 1, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e7cf868a6b3be652556426a9f4ae404507b78465c1d62c9c63f28e20ea168af", + "visual_seed": 1222969879273666993, + "episode_index": 1, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_20_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_20_success.json new file mode 100644 index 0000000000000000000000000000000000000000..845372688e3a954c5bf24bd9d461bccf4093c5dd --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_20_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 20, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20315068812483586, + -0.03480369103416352, + 0.9960641471040518 + ], + "current_z": 0.9960641471040518, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13947758009084144, + "gripper_z": 0.9991515969777691, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1984628632583436, + -0.03940750256832459, + 0.9991515969777691 + ], + "object_minus_gripper": [ + 0.004687824866492246, + 0.004603811534161076, + -0.0030874498737173406 + ], + "object_to_gripper_xy": 0.006570447672798072, + "object_to_gripper_z": -0.0030874498737173406, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20315068812483586, + -0.05898453741305059, + 0.9960641471040518 + ], + "finger_b": [ + 0.19176869776446342, + -0.03480369103416352, + 0.9960641471040518 + ], + "finger_midpoint": [ + 0.19745969294464966, + -0.04689411422360705, + 0.9960641471040518 + ], + "object_minus_finger_midpoint": [ + 0.0056909951801862035, + 0.012090423189443533, + 0.0 + ], + "finger_gap": 0.02672569991904697, + "fingertip_max_gap": 0.09142429278604175, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362849959523474, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9960641471040518, + "object_top_z": 1.0414622082409963, + "finger_top_clearance": 0.045398061136944556, + "fingertip_min_top_clearance": 0.013619418341083366, + "object_projection_between_fingers": 0.8186246550576691, + "object_to_finger_line_xy": 0.010298183442297442, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821214639302088, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2397396088219237, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3356590928520641, + 0.35164586265549136, + 0.7611063292008319 + ], + "gripper_position": [ + 0.3291829834576224, + 0.3157478683478622, + 1.0163117479769563 + ], + "target_minus_gripper": [ + 0.006476109394441654, + 0.03589799430762913, + -0.25520541877612446 + ], + "held_position": [ + 0.3339616191689092, + 0.32016254759893, + 1.0130896666859317 + ], + "held_minus_target": [ + -0.001697473683154871, + -0.03148331505656138, + 0.2519833374850998 + ], + "held_minus_gripper": [ + 0.004778635711286783, + 0.004414679251067755, + -0.0032220812910246366 + ], + "xy_dist": 0.03647747233840839, + "held_xy_dist": 0.03152904286298123, + "held_gripper_dist": 0.007259928374093265, + "max_held_gripper_dist": 0.00726473731671166, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008319, + "held_z": 1.0130896666859317, + "required_height": 0.7911063292008319, + "gripper_z": 1.0163117479769563, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20291459916696, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.1243184107266504, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.264980195018196, + "max_source_tilt_deg": 89.94825981196121, + "source_upright_tilt_deg": 2.2202728503112272, + "max_source_upright_tilt_deg": 89.7041608121046, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.264980195018196, + "source_upright_return_tilt_deg": 2.2202728503112272, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3357, + 0.3516, + 0.7611 + ], + "controller_target_position": [ + 0.3357, + 0.3516, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + -0.0, + -0.0013 + ], + "controller_last_pour_pose_position": [ + 0.337, + 0.3262, + 1.0252 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0642, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013242719413968061, + -2.0240738569577386e-05, + -0.0012890709857364363 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.220266793233649, + "source_return_step_error_deg": 2.2649866259861287, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2639540934827, + "source_return_best_wrist_position": -1.612906813621521, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612906813621521 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3357, + 0.3516, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3357, + 0.3516, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + -0.0, + -0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.337, + 0.3262, + 1.0252 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0642, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013242719413968061, + -2.0240738569577386e-05, + -0.0012890709857364363 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.220266793233649, + "pour_controller_source_return_step_error_deg": 2.2649866259861287, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2639540934827, + "pour_controller_source_return_best_wrist_position": -1.612906813621521, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612906813621521, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03647747233840839, + "valid_pour_held_xy_dist": 0.03152904286298123, + "valid_pour_held_gripper_dist": 0.007259928374093265, + "valid_pour_required_height": 0.7911063292008319, + "valid_pour_held_z": 1.0130896666859317, + "valid_pour_source_tilt_deg": 2.264980195018196, + "valid_pour_source_upright_tilt_deg": 2.2202728503112272, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3339616191689092, + 0.2963923095954159, + 1.0130896666859317 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3229914099366814, + 0.32016254759893, + 1.0130896666859317 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3284765145527953, + 0.30827742859717294, + 1.0130896666859317 + ], + "valid_pour_held_grasp_object_position": [ + 0.3339616191689092, + 0.32016254759893, + 1.0130896666859317 + ], + "valid_pour_held_grasp_finger_gap": 0.02617956656139595, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023845774519867247, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00851226060324078, + -0.999249281244008, + 0.03779438255555933 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005604035564034811, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033370718985733946, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3339616191689092, + 0.2963923095954159, + 1.0130896666859317 + ], + "held_grasp_finger_b": [ + 0.3229914099366814, + 0.32016254759893, + 1.0130896666859317 + ], + "held_grasp_midpoint": [ + 0.3284765145527953, + 0.30827742859717294, + 1.0130896666859317 + ], + "held_grasp_object_position": [ + 0.3339616191689092, + 0.32016254759893, + 1.0130896666859317 + ], + "held_grasp_finger_gap": 0.02617956656139595, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023845774519867247, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00851226060324078, + -0.999249281244008, + 0.03779438255555933 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005604035564034811, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033370718985733946, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18333998859534065, + -0.03685573593193355, + 0.7565864346949343 + ], + "target_position": [ + 0.18009295405584974, + -0.03604454946806894, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003346827868266322, + "xy_threshold": 0.08, + "gripper_dist": 0.21979277749169587, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864346949343, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527161134773525, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08646341144006738, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19096282342484752, + "release_required_pad_clearance": 0.05323170572003369, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.48408148223433, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.344552690003971, + 0.3487215647503553, + 1.1632746295228884 + ], + "current_z": 1.1632746295228884, + "required_z": 0.8611062695961871, + "initial_z": 0.7611062695961871, + "lift_margin": 0.3021683599267013, + "gripper_z": 1.1523105370224604, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33964346521693484, + 0.34384606746645807, + 1.1523105370224604 + ], + "object_minus_gripper": [ + 0.004909224787036148, + 0.0048754972838972455, + 0.010964092500427958 + ], + "object_to_gripper_xy": 0.006918884431390622, + "object_to_gripper_z": 0.010964092500427958, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.344552690003971, + 0.32480810221497136, + 1.1632746295228884 + ], + "finger_b": [ + 0.3334879164138081, + 0.3487215647503553, + 1.1632746295228884 + ], + "finger_midpoint": [ + 0.33902030320888954, + 0.33676483348266334, + 1.1632746295228884 + ], + "object_minus_finger_midpoint": [ + 0.005532386795081445, + 0.011956731267691978, + 0.0 + ], + "finger_gap": 0.02634924866163698, + "fingertip_max_gap": 0.09022992293289031, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01317462433081849, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632746295228884, + "object_top_z": 1.2130240727671455, + "finger_top_clearance": 0.04974944324425712, + "fingertip_min_top_clearance": 0.014924832973277135, + "object_projection_between_fingers": 0.8236609115475974, + "object_to_finger_line_xy": 0.010041920060366099, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761496146644516, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25839366339222347, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3322030089034711, + -0.36462915983804167, + 0.8515395569148789 + ], + "target_position": [ + 0.3258877990286849, + -0.36587453653354973, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00643683453852213, + "xy_threshold": 0.08, + "gripper_dist": 0.18234952848726838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395569148789, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559318525863126, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08584012576827942, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15027704914483303, + "release_required_pad_clearance": 0.05292006288413971, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8784806517643576, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00835573673248291, + "max_z_decrease": 0.00835573673248291, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501052246633054, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00835573673248291, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021233160666448602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00835573673248291, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008355960874636732, + "max_button_displacement": 0.12, + "button_start": [ + 0.18158772587776179, + -0.42213600873947144, + 0.7768088579177856 + ], + "button_final": [ + 0.18158772587776179, + -0.42213600873947144, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18276031429635417, + -0.4220808923407725, + 0.8059802930746057 + ], + "closest_button": [ + 0.181528091430664, + -0.4221353232860565, + 0.7709915041923523 + ], + "closest_ee_minus_button": [ + 0.0012322228656901635, + 5.4430945284011933e-05, + 0.03498878888225343 + ], + "button_min_z_position": [ + 0.18153114616870875, + -0.42211267352104187, + 0.7684531211853027 + ], + "min_active_finger_to_button": 0.14482191617196505, + "closest_active_finger": [ + 0.04221236705780029, + -0.4042166471481323, + 0.8081318736076355 + ], + "closest_active_finger_button": [ + 0.18161134421825406, + -0.4221435785293579, + 0.7732042670249939 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13939897716045377, + 0.017926931381225586, + 0.0349276065826416 + ], + "min_contact_pad_to_button": 0.021233160666448602, + "closest_contact_pad": [ + 0.18153114616870875, + -0.4233912357701911, + 0.7896477523560089 + ], + "closest_contact_pad_button": [ + 0.18153114616870875, + -0.42211267352104187, + 0.7684531211853027 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012785622491492399, + 0.02119463117070619 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 20, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7abd8ca9d69518809024e5cf4ba76bb246193b2698eb914e577d34f7965d9698", + "visual_seed": 8204034086585649613, + "episode_index": 20, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_21_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_21_success.json new file mode 100644 index 0000000000000000000000000000000000000000..048c22cae08b97551e3bf90a023c87ad7aeb8351 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_21_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 21, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20437762580285854, + -0.02964977980165495, + 0.9953089225645456 + ], + "current_z": 0.9953089225645456, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.13872247476062471, + "gripper_z": 0.9983230306257357, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1997402298532886, + -0.03428290685624527, + 0.9983230306257357 + ], + "object_minus_gripper": [ + 0.004637395949569939, + 0.004633127054590323, + -0.0030141080611900684 + ], + "object_to_gripper_xy": 0.006555250376382619, + "object_to_gripper_z": -0.0030141080611900684, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20437762580285854, + -0.053677854484212854, + 0.9953089225645456 + ], + "finger_b": [ + 0.1928513758649399, + -0.02964977980165495, + 0.9953089225645456 + ], + "finger_midpoint": [ + 0.1986145008338992, + -0.0416638171429339, + 0.9953089225645456 + ], + "object_minus_finger_midpoint": [ + 0.005763124968959338, + 0.012014037341278951, + 0.0 + ], + "finger_gap": 0.026649630589971596, + "fingertip_max_gap": 0.0916395449567278, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324815294985803, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9953089225645456, + "object_top_z": 1.0408151231845038, + "finger_top_clearance": 0.04550620061995814, + "fingertip_min_top_clearance": 0.01365186018598744, + "object_projection_between_fingers": 0.812934508774322, + "object_to_finger_line_xy": 0.010392399000921126, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0483197724783639, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3018500418245273, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34078151602406115, + 0.349918937282414, + 0.7611063888054765 + ], + "gripper_position": [ + 0.3324815688991912, + 0.3130511386644024, + 1.0168104044728532 + ], + "target_minus_gripper": [ + 0.008299947124869922, + 0.03686779861801165, + -0.25570401566737666 + ], + "held_position": [ + 0.33724429776971665, + 0.3174517723809881, + 1.0136471184648586 + ], + "held_minus_target": [ + -0.0035372182543444985, + -0.03246716490142593, + 0.252540729659382 + ], + "held_minus_gripper": [ + 0.004762728870525423, + 0.004400633716585722, + -0.003163286007994648 + ], + "xy_dist": 0.03779052390763984, + "held_xy_dist": 0.0326592821371697, + "held_gripper_dist": 0.0072149526519626, + "max_held_gripper_dist": 0.0072194729377740895, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0136471184648586, + "required_height": 0.7911063888054766, + "gripper_z": 1.0168104044728532, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20018935368813, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7131633570236289, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2722272216337953, + "max_source_tilt_deg": 89.63651849355531, + "source_upright_tilt_deg": 2.13542203736471, + "max_source_upright_tilt_deg": 89.91789073409305, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2722272216337953, + "source_upright_return_tilt_deg": 2.13542203736471, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.429369702178807e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3408, + 0.3499, + 0.7611 + ], + "controller_target_position": [ + 0.3408, + 0.3499, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.0019, + 0.0013 + ], + "controller_last_pour_pose_position": [ + 0.3389, + 0.3227, + 1.0278 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0661, + 0.0636, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018556799038761476, + -0.0018705173518783324, + 0.0012672762543455337 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1350570774008886, + "source_return_step_error_deg": 2.271882711039176, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.273109962410669, + "source_return_best_wrist_position": -1.6127920150756836, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127920150756836 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3408, + 0.3499, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3408, + 0.3499, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.0019, + 0.0013 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3389, + 0.3227, + 1.0278 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0661, + 0.0636, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018556799038761476, + -0.0018705173518783324, + 0.0012672762543455337 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1350570774008886, + "pour_controller_source_return_step_error_deg": 2.271882711039176, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.273109962410669, + "pour_controller_source_return_best_wrist_position": -1.6127920150756836, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127920150756836, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03779052390763984, + "valid_pour_held_xy_dist": 0.0326592821371697, + "valid_pour_held_gripper_dist": 0.0072149526519626, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0136471184648586, + "valid_pour_source_tilt_deg": 2.2722272216337953, + "valid_pour_source_upright_tilt_deg": 2.13542203736471, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.429369702178807e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33724429776971665, + 0.29366991096815687, + 1.0136471184648586 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32632145354787034, + 0.3174517723809881, + 1.0136471184648586 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3317828756587935, + 0.3055608416745725, + 1.0136471184648586 + ], + "valid_pour_held_grasp_object_position": [ + 0.33724429776971665, + 0.3174517723809881, + 1.0136471184648586 + ], + "valid_pour_held_grasp_finger_gap": 0.026170316355631475, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023767359985662664, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00018435543408608802, + -0.9993055584434771, + 0.0372607954429911 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005481548166727386, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03331855865866742, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33724429776971665, + 0.29366991096815687, + 1.0136471184648586 + ], + "held_grasp_finger_b": [ + 0.32632145354787034, + 0.3174517723809881, + 1.0136471184648586 + ], + "held_grasp_midpoint": [ + 0.3317828756587935, + 0.3055608416745725, + 1.0136471184648586 + ], + "held_grasp_object_position": [ + 0.33724429776971665, + 0.3174517723809881, + 1.0136471184648586 + ], + "held_grasp_finger_gap": 0.026170316355631475, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023767359985662664, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00018435543408608802, + -0.9993055584434771, + 0.0372607954429911 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005481548166727386, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03331855865866742, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18944223039491712, + -0.02641522353067363, + 0.7565867499388322 + ], + "target_position": [ + 0.18245953423089523, + -0.030746607466717313, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008216990478299416, + "xy_threshold": 0.08, + "gripper_dist": 0.22141064891267326, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867499388322, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563805778736202, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521453444162864, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19244254568573826, + "release_required_pad_clearance": 0.052607267220814324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.27695278983540694, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34961030127906606, + 0.3455490690279328, + 1.1621413279555277 + ], + "current_z": 1.1621413279555277, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.30103499875469597, + "gripper_z": 1.151038447361491, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3447768896386772, + 0.34086072280334756, + 1.151038447361491 + ], + "object_minus_gripper": [ + 0.004833411640388863, + 0.004688346224585249, + 0.011102880594036746 + ], + "object_to_gripper_xy": 0.006733680895842134, + "object_to_gripper_z": 0.011102880594036746, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34961030127906606, + 0.3215777471751016, + 1.1621413279555277 + ], + "finger_b": [ + 0.3389533786238138, + 0.3455490690279328, + 1.1621413279555277 + ], + "finger_midpoint": [ + 0.3442818399514399, + 0.3335634081015172, + 1.1621413279555277 + ], + "object_minus_finger_midpoint": [ + 0.005328461327626155, + 0.01198566092641562, + 0.0 + ], + "finger_gap": 0.026233457108281604, + "fingertip_max_gap": 0.09054306276647436, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116728554140838, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1621413279555277, + "object_top_z": 1.2120419666952214, + "finger_top_clearance": 0.04990063873969364, + "fingertip_min_top_clearance": 0.01497019162190809, + "object_projection_between_fingers": 0.834973923606786, + "object_to_finger_line_xy": 0.00973796636391983, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047771531383237184, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.35620961144481494, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.327684901269489, + -0.369819006313238, + 0.8515396126025956 + ], + "target_position": [ + 0.32101875798560076, + -0.37117528101488656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006802716174268955, + "xy_threshold": 0.08, + "gripper_dist": 0.18438881476247856, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396126025956, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558858478552964, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08523434482677576, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15240356482134318, + "release_required_pad_clearance": 0.05261717241338788, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.29607504732622547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008640289306640625, + "max_z_decrease": 0.008640289306640625, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502767735436058, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008640289306640625, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02098874798430406, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008640289306640625, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008640443251554449, + "max_button_displacement": 0.12, + "button_start": [ + 0.17671868205070487, + -0.42743673920631403, + 0.7768088579177856 + ], + "button_final": [ + 0.17671868205070487, + -0.42743673920631403, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17479079678960585, + -0.42722546412821666, + 0.8031451355233787 + ], + "closest_button": [ + 0.17667305469512928, + -0.42741268873214716, + 0.768168568611145 + ], + "closest_ee_minus_button": [ + -0.0018822579055234323, + 0.00018722460393050255, + 0.03497656691223372 + ], + "button_min_z_position": [ + 0.17667305469512928, + -0.42741268873214716, + 0.768168568611145 + ], + "min_active_finger_to_button": 0.14748429510220631, + "closest_active_finger": [ + 0.04728918522596359, + -0.48921266198158264, + 0.8106153607368469 + ], + "closest_active_finger_button": [ + 0.17671744525432576, + -0.4274430871009826, + 0.7761993408203125 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12942826002836216, + -0.06176957488060003, + 0.034416019916534424 + ], + "min_contact_pad_to_button": 0.02098874798430406, + "closest_contact_pad": [ + 0.17667305469512928, + -0.42850128481928473, + 0.7891290671860286 + ], + "closest_contact_pad_button": [ + 0.17667305469512928, + -0.42741268873214716, + 0.768168568611145 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010885960871375722, + 0.02096049857488358 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 21, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "4ff1c56a2fc8bac0b0ac9b2d87afd0119afd238c1452babcfa95d0f6f7c34594", + "visual_seed": 5989223839324758568, + "episode_index": 21, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_22_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_22_success.json new file mode 100644 index 0000000000000000000000000000000000000000..35165574d960876b74ae8b980896c6db056c71d6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_22_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 22, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1992550968033731, + -0.025302088075961952, + 0.9985658144747763 + ], + "current_z": 0.9985658144747763, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14197930706621076, + "gripper_z": 1.0015159941365799, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19470001239175586, + -0.029893505341349005, + 1.0015159941365799 + ], + "object_minus_gripper": [ + 0.004555084411617255, + 0.004591417265387053, + -0.0029501796618035536 + ], + "object_to_gripper_xy": 0.006467604386622054, + "object_to_gripper_z": -0.0029501796618035536, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1992550968033731, + -0.049291773098521556, + 0.9985658144747763 + ], + "finger_b": [ + 0.1877462691907634, + -0.025302088075961952, + 0.9985658144747763 + ], + "finger_midpoint": [ + 0.19350068299706824, + -0.037296930587241754, + 0.9985658144747763 + ], + "object_minus_finger_midpoint": [ + 0.00575441380630487, + 0.011994842511279802, + 0.0 + ], + "finger_gap": 0.026607482039802045, + "fingertip_max_gap": 0.09137020641584243, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013303741019901028, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9985658144747763, + "object_top_z": 1.0439198507986638, + "finger_top_clearance": 0.04535403632388746, + "fingertip_min_top_clearance": 0.013606210897166238, + "object_projection_between_fingers": 0.8129082597917541, + "object_to_finger_line_xy": 0.010376523001779596, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048185103207921215, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.302400282777918, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34334064144749254, + 0.34959620793327767, + 0.7611063888054765 + ], + "gripper_position": [ + 0.33643017509943074, + 0.31581900132926166, + 1.017957096542089 + ], + "target_minus_gripper": [ + 0.006910466348061806, + 0.03377720660401601, + -0.25685070773661245 + ], + "held_position": [ + 0.34109282006022745, + 0.32021626461675134, + 1.0148825461325648 + ], + "held_minus_target": [ + -0.002247821387265092, + -0.029379943316526325, + 0.25377615732708825 + ], + "held_minus_gripper": [ + 0.0046626449607967135, + 0.004397263287489683, + -0.0030745504095242016 + ], + "xy_dist": 0.03447686515792985, + "held_xy_dist": 0.02946580679824237, + "held_gripper_dist": 0.007108378343240671, + "max_held_gripper_dist": 0.007114183271881683, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0148825461325648, + "required_height": 0.7911063888054766, + "gripper_z": 1.017957096542089, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20193788211564, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6780293111554858, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.177059115270598, + "max_source_tilt_deg": 89.75471831191746, + "source_upright_tilt_deg": 2.155062816997571, + "max_source_upright_tilt_deg": 89.99375639711099, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.177059115270598, + "source_upright_return_tilt_deg": 2.155062816997571, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3433, + 0.3496, + 0.7611 + ], + "controller_target_position": [ + 0.3433, + 0.3496, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0018, + 0.0017 + ], + "controller_last_pour_pose_position": [ + 0.343, + 0.326, + 1.0282 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.064, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00033037050238543617, + 0.0017879865624316408, + 0.0017193069993148543 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1550625737942015, + "source_return_step_error_deg": 2.1770583579980696, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1848360620961924, + "source_return_best_wrist_position": -1.6127753257751465, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127753257751465 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3433, + 0.3496, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3433, + 0.3496, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0018, + 0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.343, + 0.326, + 1.0282 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.064, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00033037050238543617, + 0.0017879865624316408, + 0.0017193069993148543 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1550625737942015, + "pour_controller_source_return_step_error_deg": 2.1770583579980696, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1848360620961924, + "pour_controller_source_return_best_wrist_position": -1.6127753257751465, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127753257751465, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03447686515792985, + "valid_pour_held_xy_dist": 0.02946580679824237, + "valid_pour_held_gripper_dist": 0.007108378343240671, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0148825461325648, + "valid_pour_source_tilt_deg": 2.177059115270598, + "valid_pour_source_upright_tilt_deg": 2.155062816997571, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34109282006022745, + 0.29657602610590833, + 1.0148825461325648 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33008833906321466, + 0.32021626461675134, + 1.0148825461325648 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33559057956172106, + 0.30839614536132987, + 1.0148825461325648 + ], + "valid_pour_held_grasp_object_position": [ + 0.34109282006022745, + 0.32021626461675134, + 1.0148825461325648 + ], + "valid_pour_held_grasp_finger_gap": 0.026076032651903946, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0236940475202019, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.006409127524065609, + -0.9992927265653663, + 0.037053606004496246 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00559500167610819, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033423730327755835, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34109282006022745, + 0.29657602610590833, + 1.0148825461325648 + ], + "held_grasp_finger_b": [ + 0.33008833906321466, + 0.32021626461675134, + 1.0148825461325648 + ], + "held_grasp_midpoint": [ + 0.33559057956172106, + 0.30839614536132987, + 1.0148825461325648 + ], + "held_grasp_object_position": [ + 0.34109282006022745, + 0.32021626461675134, + 1.0148825461325648 + ], + "held_grasp_finger_gap": 0.026076032651903946, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0236940475202019, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.006409127524065609, + -0.9992927265653663, + 0.037053606004496246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00559500167610819, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033423730327755835, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18706750971145272, + -0.02824294711227942, + 0.7565864107332565 + ], + "target_position": [ + 0.17572480596517354, + -0.03046214260823009, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01155775743494834, + "xy_threshold": 0.08, + "gripper_dist": 0.22465800385712612, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864107332565, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533218080413288, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562801031844101, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1955423117786397, + "release_required_pad_clearance": 0.05281400515922051, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6737632210318989, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 267, + "max_placed_release_frames": 267 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3519407731271099, + 0.34547572446849456, + 1.1628776652691184 + ], + "current_z": 1.1628776652691184, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3017712168589971, + "gripper_z": 1.1518500112740773, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3471534495931573, + 0.34083861406317406, + 1.1518500112740773 + ], + "object_minus_gripper": [ + 0.004787323533952614, + 0.004637110405320499, + 0.011027653995041131 + ], + "object_to_gripper_xy": 0.0066649275712394795, + "object_to_gripper_z": 0.011027653995041131, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3519407731271099, + 0.3214094716486712, + 1.1628776652691184 + ], + "finger_b": [ + 0.34152913256231693, + 0.34547572446849456, + 1.1628776652691184 + ], + "finger_midpoint": [ + 0.34673495284471345, + 0.3334425980585829, + 1.1628776652691184 + ], + "object_minus_finger_midpoint": [ + 0.005205820282396467, + 0.012033126409911665, + 0.0 + ], + "finger_gap": 0.026221876058705258, + "fingertip_max_gap": 0.09037831836060015, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013110938029352592, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628776652691184, + "object_top_z": 1.2126686173875612, + "finger_top_clearance": 0.049790952118442755, + "fingertip_min_top_clearance": 0.014937285635532826, + "object_projection_between_fingers": 0.842343887685258, + "object_to_finger_line_xy": 0.009555730243727202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047689159180300075, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2772158037977541, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3289510018115711, + -0.37105937803553596, + 0.8515395251969694 + ], + "target_position": [ + 0.3243630336872683, + -0.37139300672055625, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0046000825654641045, + "xy_threshold": 0.08, + "gripper_dist": 0.1820871215558309, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395251969694, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554825639558146, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08594954463313674, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1500237487339468, + "release_required_pad_clearance": 0.05297477231656837, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9843608606887648, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008489072322845459, + "max_z_decrease": 0.008489072322845459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035020238642362984, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008489072322845459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021005821915628275, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008489072322845459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008489196869505899, + "max_button_displacement": 0.12, + "button_start": [ + 0.18006296455860135, + -0.4276544749736786, + 0.7768088579177856 + ], + "button_final": [ + 0.18006296455860135, + -0.4276544749736786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17966284943568012, + -0.42645337554679225, + 0.803317908905139 + ], + "closest_button": [ + 0.18001775443553925, + -0.42764607071876526, + 0.7683197855949402 + ], + "closest_ee_minus_button": [ + -0.00035490499985912916, + 0.0011926951719730128, + 0.0349981233101988 + ], + "button_min_z_position": [ + 0.18001775443553925, + -0.42764607071876526, + 0.7683197855949402 + ], + "min_active_finger_to_button": 0.14573142399241493, + "closest_active_finger": [ + 0.052647389471530914, + -0.4894058108329773, + 0.8104785084724426 + ], + "closest_active_finger_button": [ + 0.18007051944732663, + -0.42766040563583374, + 0.776003897190094 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12742312997579572, + -0.061745405197143555, + 0.03447461128234863 + ], + "min_contact_pad_to_button": 0.021005821915628275, + "closest_contact_pad": [ + 0.18001775443553925, + -0.42764607071876526, + 0.7893256075105685 + ], + "closest_contact_pad_button": [ + 0.18001775443553925, + -0.42764607071876526, + 0.7683197855949402 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021005821915628275 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 22, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cbc22b71fca15c9c5e657dd9c6c3eed039e453279e5f1f0db28c86839bef7294", + "visual_seed": 8866844902940016077, + "episode_index": 22, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_23_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_23_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2bb335456b0fd34e2f716fe9c68ad357780f460b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_23_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 23, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20206466825118022, + -0.027503769281029388, + 0.9955109826488793 + ], + "current_z": 0.9955109826488793, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13892441563566893, + "gripper_z": 0.9986037726576715, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1975048607314815, + -0.03207694083387155, + 0.9986037726576715 + ], + "object_minus_gripper": [ + 0.0045598075196987276, + 0.004573171552842165, + -0.0030927900087922566 + ], + "object_to_gripper_xy": 0.0064579983484378415, + "object_to_gripper_z": -0.0030927900087922566, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20206466825118022, + -0.051513046397387324, + 0.9955109826488793 + ], + "finger_b": [ + 0.19066440134048077, + -0.027503769281029388, + 0.9955109826488793 + ], + "finger_midpoint": [ + 0.1963645347958305, + -0.03950840783920836, + 0.9955109826488793 + ], + "object_minus_finger_midpoint": [ + 0.005700133455349726, + 0.01200463855817897, + 0.0 + ], + "finger_gap": 0.02657840238398948, + "fingertip_max_gap": 0.09185741909595771, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013289201191994742, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955109826488793, + "object_top_z": 1.0409958864788433, + "finger_top_clearance": 0.04548490382996406, + "fingertip_min_top_clearance": 0.013645471148989202, + "object_projection_between_fingers": 0.8160192882616065, + "object_to_finger_line_xy": 0.010298292707928518, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842870954797886, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5308101694474479, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3360484601940592, + 0.3569326754377788, + 0.7611064484101212 + ], + "gripper_position": [ + 0.32928183030570374, + 0.321208931444973, + 1.0169485916306722 + ], + "target_minus_gripper": [ + 0.006766629888355469, + 0.03572374399280581, + -0.255842143220551 + ], + "held_position": [ + 0.33395683504618223, + 0.3255596663128424, + 1.0137094578389572 + ], + "held_minus_target": [ + -0.0020916251478769743, + -0.0313730091249364, + 0.25260300942883596 + ], + "held_minus_gripper": [ + 0.0046750047404784945, + 0.00435073486786941, + -0.003239133791715032 + ], + "xy_dist": 0.03635894889720431, + "held_xy_dist": 0.031442655697516614, + "held_gripper_dist": 0.007160764689236845, + "max_held_gripper_dist": 0.007166009648455232, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0137094578389572, + "required_height": 0.7911064484101212, + "gripper_z": 1.0169485916306722, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2069375805881, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0593622050611224, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2909611428288885, + "max_source_tilt_deg": 89.98896361865953, + "source_upright_tilt_deg": 2.2143040201702346, + "max_source_upright_tilt_deg": 89.72786931414932, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2909611428288885, + "source_upright_return_tilt_deg": 2.2143040201702346, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.336, + 0.3569, + 0.7611 + ], + "controller_target_position": [ + 0.336, + 0.3569, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0004, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3364, + 0.3312, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0641, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003561781447425404, + -0.00035518824812364076, + 0.0005867924847507097 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.214309964550053, + "source_return_step_error_deg": 2.2909482378110897, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2910032767966695, + "source_return_best_wrist_position": -1.61331307888031, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61331307888031 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.336, + 0.3569, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.336, + 0.3569, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0004, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3364, + 0.3312, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0641, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003561781447425404, + -0.00035518824812364076, + 0.0005867924847507097 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.214309964550053, + "pour_controller_source_return_step_error_deg": 2.2909482378110897, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2910032767966695, + "pour_controller_source_return_best_wrist_position": -1.61331307888031, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61331307888031, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03635894889720431, + "valid_pour_held_xy_dist": 0.031442655697516614, + "valid_pour_held_gripper_dist": 0.007160764689236845, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0137094578389572, + "valid_pour_source_tilt_deg": 2.2909611428288885, + "valid_pour_source_upright_tilt_deg": 2.2143040201702346, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33395683504618223, + 0.30185351835803303, + 1.0137094578389572 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32310440238465354, + 0.3255596663128424, + 1.0137094578389572 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3285306187154179, + 0.31370659233543774, + 1.0137094578389572 + ], + "valid_pour_held_grasp_object_position": [ + 0.33395683504618223, + 0.3255596663128424, + 1.0137094578389572 + ], + "valid_pour_held_grasp_finger_gap": 0.026072145012030108, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023764881500228294, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.007043088780491032, + -0.9992533117850168, + 0.03798965368500229 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00552787538469245, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03339421886241607, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33395683504618223, + 0.30185351835803303, + 1.0137094578389572 + ], + "held_grasp_finger_b": [ + 0.32310440238465354, + 0.3255596663128424, + 1.0137094578389572 + ], + "held_grasp_midpoint": [ + 0.3285306187154179, + 0.31370659233543774, + 1.0137094578389572 + ], + "held_grasp_object_position": [ + 0.33395683504618223, + 0.3255596663128424, + 1.0137094578389572 + ], + "held_grasp_finger_gap": 0.026072145012030108, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023764881500228294, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.007043088780491032, + -0.9992533117850168, + 0.03798965368500229 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00552787538469245, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03339421886241607, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19132555145878413, + -0.02436278572041826, + 0.7565862093853417 + ], + "target_position": [ + 0.18010751164413266, + -0.030477954113454046, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012776529331484723, + "xy_threshold": 0.08, + "gripper_dist": 0.22324267291489308, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862093853417, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588510155159747, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1937541048558911, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34506437654541616, + 0.3525430998347788, + 1.1644075357113923 + ], + "current_z": 1.1644075357113923, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3033011469059159, + "gripper_z": 1.1533711290015676, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34019942360116345, + 0.34770735490509497, + 1.1533711290015676 + ], + "object_minus_gripper": [ + 0.0048649529442527095, + 0.004835744929683805, + 0.011036406709824753 + ], + "object_to_gripper_xy": 0.006859460341364744, + "object_to_gripper_z": 0.011036406709824753, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34506437654541616, + 0.32878785828366835, + 1.1644075357113923 + ], + "finger_b": [ + 0.333886699070855, + 0.3525430998347788, + 1.1644075357113923 + ], + "finger_midpoint": [ + 0.33947553780813555, + 0.34066547905922356, + 1.1644075357113923 + ], + "object_minus_finger_midpoint": [ + 0.00558883873728061, + 0.011877620775555209, + 0.0 + ], + "finger_gap": 0.02625360879720948, + "fingertip_max_gap": 0.09056637318502245, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01312680439860475, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644075357113923, + "object_top_z": 1.2142658044230106, + "finger_top_clearance": 0.04985826871161825, + "fingertip_min_top_clearance": 0.014957480613485508, + "object_projection_between_fingers": 0.8187303362494919, + "object_to_finger_line_xy": 0.010113978251128267, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047783186592511226, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2940202186482528, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3283966184449106, + -0.3631099914020886, + 0.8515395070326377 + ], + "target_position": [ + 0.3221711936328405, + -0.36409105250293844, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006302253166474527, + "xy_threshold": 0.08, + "gripper_dist": 0.18208570154694959, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395070326377, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07585485804379181, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522870510867618, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14938565536608175, + "release_required_pad_clearance": 0.05261435255433809, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2907399250723452, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008632183074951172, + "max_z_decrease": 0.008632183074951172, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035061386457982194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008632183074951172, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021032612245877765, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008632183074951172, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008632605078826804, + "max_button_displacement": 0.12, + "button_start": [ + 0.17787112295627594, + -0.42035251855850214, + 0.7768088579177856 + ], + "button_final": [ + 0.17787112295627594, + -0.42035251855850214, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17963815526032964, + -0.419921506531148, + 0.8031871876220947 + ], + "closest_button": [ + 0.1777924746274948, + -0.4203193485736847, + 0.7681766748428345 + ], + "closest_ee_minus_button": [ + 0.0018456806328348285, + 0.000397842042536678, + 0.03501051277926026 + ], + "button_min_z_position": [ + 0.1777924746274948, + -0.4203193485736847, + 0.7681766748428345 + ], + "min_active_finger_to_button": 0.14417089470617472, + "closest_active_finger": [ + 0.05281319469213486, + -0.48325905203819275, + 0.8099959492683411 + ], + "closest_active_finger_button": [ + 0.17787957191467285, + -0.42035937309265137, + 0.7755390405654907 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.125066377222538, + -0.06289967894554138, + 0.03445690870285034 + ], + "min_contact_pad_to_button": 0.021032612245877765, + "closest_contact_pad": [ + 0.1777924746274948, + -0.4210650702574843, + 0.7891960629656072 + ], + "closest_contact_pad_button": [ + 0.1777924746274948, + -0.4203193485736847, + 0.7681766748428345 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.000745721683799605, + 0.02101938812277271 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 23, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e49f77bda790afa331d75e85e112cf0b1847d1db5b48920029bf180175c195e7", + "visual_seed": 2671305166104674939, + "episode_index": 23, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_24_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_24_success.json new file mode 100644 index 0000000000000000000000000000000000000000..6ebecdd9f6bcedb6d280352a2a27b0f9df8b537c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_24_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 24, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20524483765389778, + -0.02893590106028332, + 0.9974252162874369 + ], + "current_z": 0.9974252162874369, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.14083858966958174, + "gripper_z": 1.000527014369899, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20058154157132413, + -0.03359153688549006, + 1.000527014369899 + ], + "object_minus_gripper": [ + 0.004663296082573654, + 0.0046556358252067415, + -0.003101798082462137 + ], + "object_to_gripper_xy": 0.00658948217166533, + "object_to_gripper_z": -0.003101798082462137, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20524483765389778, + -0.05296619814808039, + 0.9974252162874369 + ], + "finger_b": [ + 0.1936922519220507, + -0.02893590106028332, + 0.9974252162874369 + ], + "finger_midpoint": [ + 0.19946854478797424, + -0.040951049604181854, + 0.9974252162874369 + ], + "object_minus_finger_midpoint": [ + 0.0057762928659235435, + 0.012015148543898534, + 0.0 + ], + "finger_gap": 0.026663034621352933, + "fingertip_max_gap": 0.09230948843851403, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013331517310676467, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9974252162874369, + "object_top_z": 1.0429960436945023, + "finger_top_clearance": 0.04557082740706542, + "fingertip_min_top_clearance": 0.013671248222119608, + "object_projection_between_fingers": 0.8122675936269247, + "object_to_finger_line_xy": 0.010411870637043219, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048654744219257015, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.8499518240476656, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3408552171673259, + 0.35320345123276187, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33419219046456505, + 0.3182442478523579, + 1.0169639209491894 + ], + "target_minus_gripper": [ + 0.006663026702760866, + 0.03495920338040398, + -0.255857532143713 + ], + "held_position": [ + 0.33898328409312173, + 0.3226564421008046, + 1.0137049109111833 + ], + "held_minus_target": [ + -0.0018719330742041906, + -0.030547009131957292, + 0.2525985221057069 + ], + "held_minus_gripper": [ + 0.004791093628556675, + 0.004412194248446688, + -0.003259010038006105 + ], + "xy_dist": 0.03558850693460114, + "held_xy_dist": 0.030604311793310787, + "held_gripper_dist": 0.007283075083468998, + "max_held_gripper_dist": 0.007289452142475943, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0137049109111833, + "required_height": 0.7911063888054765, + "gripper_z": 1.0169639209491894, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20324927843629, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2344828687903373, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2960818335968427, + "max_source_tilt_deg": 89.95647250522974, + "source_upright_tilt_deg": 2.207193876492513, + "max_source_upright_tilt_deg": 89.61188295282888, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2960818335968427, + "source_upright_return_tilt_deg": 2.207193876492513, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3409, + 0.3532, + 0.7611 + ], + "controller_target_position": [ + 0.3409, + 0.3532, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0009, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3412, + 0.3287, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0642, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003010033625725473, + 0.0008647973871599096, + 0.00010819723629624948 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2071995200658443, + "source_return_step_error_deg": 2.2961081028901993, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3074721243839247, + "source_return_best_wrist_position": -1.6130262613296509, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6130262613296509 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3409, + 0.3532, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3409, + 0.3532, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0009, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3412, + 0.3287, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0642, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003010033625725473, + 0.0008647973871599096, + 0.00010819723629624948 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2071995200658443, + "pour_controller_source_return_step_error_deg": 2.2961081028901993, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3074721243839247, + "pour_controller_source_return_best_wrist_position": -1.6130262613296509, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6130262613296509, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03558850693460114, + "valid_pour_held_xy_dist": 0.030604311793310787, + "valid_pour_held_gripper_dist": 0.007283075083468998, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0137049109111833, + "valid_pour_source_tilt_deg": 2.2960818335968427, + "valid_pour_source_upright_tilt_deg": 2.207193876492513, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33898328409312173, + 0.298862749954715, + 1.0137049109111833 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3280431628234337, + 0.3226564421008046, + 1.0137049109111833 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3335132234582777, + 0.3107595960277598, + 1.0137049109111833 + ], + "valid_pour_held_grasp_object_position": [ + 0.33898328409312173, + 0.3226564421008046, + 1.0137049109111833 + ], + "valid_pour_held_grasp_finger_gap": 0.026188280572392766, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023874996305328328, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.009045304806867254, + -0.9992580986523122, + 0.037435741460763006 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005595127063273079, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03336168354465503, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33898328409312173, + 0.298862749954715, + 1.0137049109111833 + ], + "held_grasp_finger_b": [ + 0.3280431628234337, + 0.3226564421008046, + 1.0137049109111833 + ], + "held_grasp_midpoint": [ + 0.3335132234582777, + 0.3107595960277598, + 1.0137049109111833 + ], + "held_grasp_object_position": [ + 0.33898328409312173, + 0.3226564421008046, + 1.0137049109111833 + ], + "held_grasp_finger_gap": 0.026188280572392766, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023874996305328328, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.009045304806867254, + -0.9992580986523122, + 0.037435741460763006 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005595127063273079, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03336168354465503, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1847284843667317, + -0.029454947662544993, + 0.7565869994248089 + ], + "target_position": [ + 0.18391728580010042, + -0.03150313503013922, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0022029785762183915, + "xy_threshold": 0.08, + "gripper_dist": 0.21531460585980197, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869994248089, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539608013008592, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08637746214344418, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18723293252363613, + "release_required_pad_clearance": 0.05318873107172209, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.399390600149965, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 283, + "max_placed_release_frames": 283 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3497778267962993, + 0.3505908721918233, + 1.1659143508071943 + ], + "current_z": 1.1659143508071943, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3048079023970731, + "gripper_z": 1.1546527925652408, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3450371372031548, + 0.3458668824498649, + 1.1546527925652408 + ], + "object_minus_gripper": [ + 0.004740689593144498, + 0.004723989741958368, + 0.011261558241953518 + ], + "object_to_gripper_xy": 0.006692549357358258, + "object_to_gripper_z": 0.011261558241953518, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3497778267962993, + 0.3265956497889014, + 1.1659143508071943 + ], + "finger_b": [ + 0.33917360665322294, + 0.3505908721918233, + 1.1659143508071943 + ], + "finger_midpoint": [ + 0.3444757167247611, + 0.33859326099036235, + 1.1659143508071943 + ], + "object_minus_finger_midpoint": [ + 0.005302110071538191, + 0.011997611201460923, + 0.0 + ], + "finger_gap": 0.026233950960701895, + "fingertip_max_gap": 0.09043337376382829, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013116975480350923, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659143508071943, + "object_top_z": 1.2159358966919234, + "finger_top_clearance": 0.05002154588472907, + "fingertip_min_top_clearance": 0.015006463765418686, + "object_projection_between_fingers": 0.8366082721502573, + "object_to_finger_line_xy": 0.009699287046919663, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771668688191415, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5313157005706686, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33226745005351743, + -0.36571964039912674, + 0.8515396209765449 + ], + "target_position": [ + 0.32599045669755533, + -0.36721943703571414, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006453683873719817, + "xy_threshold": 0.08, + "gripper_dist": 0.18309293226908277, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396209765449, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578819272695488, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08797091380403742, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15060033991117694, + "release_required_pad_clearance": 0.05398545690201871, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9819070324209016, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008329391479492188, + "max_z_decrease": 0.008329391479492188, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506868826682771, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008329391479492188, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.021172087157745767, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008329391479492188, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00832991250310849, + "max_button_displacement": 0.12, + "button_start": [ + 0.18169037997722626, + -0.42348089814186096, + 0.7768088579177856 + ], + "button_final": [ + 0.18169037997722626, + -0.42348089814186096, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18287808886837903, + -0.42140183643397056, + 0.8039289818280297 + ], + "closest_button": [ + 0.18158619105815887, + -0.423457533121109, + 0.7689444422721863 + ], + "closest_ee_minus_button": [ + 0.001291897810220155, + 0.002055696687138453, + 0.034984539555843464 + ], + "button_min_z_position": [ + 0.18159967660903928, + -0.42345961928367615, + 0.7684794664382935 + ], + "min_active_finger_to_button": 0.14408673352563423, + "closest_active_finger": [ + 0.05539378523826599, + -0.4834693968296051, + 0.8079380393028259 + ], + "closest_active_finger_button": [ + 0.18171070516109464, + -0.4234861731529236, + 0.7731956243515015 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12631691992282865, + -0.05998322367668152, + 0.03474241495132446 + ], + "min_contact_pad_to_button": 0.021172087157745767, + "closest_contact_pad": [ + 0.18159967660903928, + -0.42345961928367615, + 0.7896515535960392 + ], + "closest_contact_pad_button": [ + 0.18159967660903928, + -0.42345961928367615, + 0.7684794664382935 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021172087157745767 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 24, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fe95606ad8dff18cf030fb0107e2f76e75b0ca5bf095daa089005bfe6f9f656d", + "visual_seed": 7281108198320304623, + "episode_index": 24, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_25_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_25_success.json new file mode 100644 index 0000000000000000000000000000000000000000..88a4ef2f7fb00db30b2e7196b7f55a4ad2d2750f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_25_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 25, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20397680867737397, + -0.03327412094241581, + 0.9967726207041785 + ], + "current_z": 0.9967726207041785, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14018611329561292, + "gripper_z": 0.9998153447751839, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19921938455776744, + -0.03792975317598249, + 0.9998153447751839 + ], + "object_minus_gripper": [ + 0.004757424119606529, + 0.00465563223356668, + -0.003042724071005365 + ], + "object_to_gripper_xy": 0.006656425147783082, + "object_to_gripper_z": -0.003042724071005365, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20397680867737397, + -0.05746405733906496, + 0.9967726207041785 + ], + "finger_b": [ + 0.19250045292972706, + -0.03327412094241581, + 0.9967726207041785 + ], + "finger_midpoint": [ + 0.19823863080355053, + -0.045369089140740386, + 0.9967726207041785 + ], + "object_minus_finger_midpoint": [ + 0.005738177873823441, + 0.012094968198324577, + 0.0 + ], + "finger_gap": 0.026774236947492633, + "fingertip_max_gap": 0.09138885740446567, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013387118473746311, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9967726207041785, + "object_top_z": 1.0422306057817334, + "finger_top_clearance": 0.04545798507755494, + "fingertip_min_top_clearance": 0.013637395523266465, + "object_projection_between_fingers": 0.8162726549339253, + "object_to_finger_line_xy": 0.01036863594452114, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819442870223284, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.139939770663609, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.338274306246229, + 0.35161027868256045, + 0.761106269596187 + ], + "gripper_position": [ + 0.33100032034131677, + 0.31489436260880055, + 1.0158466751097763 + ], + "target_minus_gripper": [ + 0.007273985904912239, + 0.0367159160737599, + -0.25474040551358934 + ], + "held_position": [ + 0.3358043567430017, + 0.31940242125427676, + 1.0126581732737565 + ], + "held_minus_target": [ + -0.00246994950322732, + -0.03220785742828369, + 0.2515519036775695 + ], + "held_minus_gripper": [ + 0.004804036401684919, + 0.0045080586454762095, + -0.003188501836019819 + ], + "xy_dist": 0.03742952529862278, + "held_xy_dist": 0.03230242608023648, + "held_gripper_dist": 0.007319009663750167, + "max_held_gripper_dist": 0.007323382754364656, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106269596187, + "held_z": 1.0126581732737565, + "required_height": 0.791106269596187, + "gripper_z": 1.0158466751097763, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19730018366921, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9228157550284689, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1519117772059815, + "max_source_tilt_deg": 89.63655367417815, + "source_upright_tilt_deg": 2.3075372247770822, + "max_source_upright_tilt_deg": 89.98704356771862, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1519117772059815, + "source_upright_return_tilt_deg": 2.3075372247770822, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.884864366154897e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3383, + 0.3516, + 0.7611 + ], + "controller_target_position": [ + 0.3383, + 0.3516, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0012, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3393, + 0.325, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0646, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001048422240284205, + -0.0012331361794352938, + -0.0018011852935867218 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.307552211003641, + "source_return_step_error_deg": 2.151924852413372, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3128882684005347, + "source_return_best_wrist_position": -1.6126370429992676, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126370429992676 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3383, + 0.3516, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3383, + 0.3516, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0012, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3393, + 0.325, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0646, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001048422240284205, + -0.0012331361794352938, + -0.0018011852935867218 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.307552211003641, + "pour_controller_source_return_step_error_deg": 2.151924852413372, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3128882684005347, + "pour_controller_source_return_best_wrist_position": -1.6126370429992676, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126370429992676, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03742952529862278, + "valid_pour_held_xy_dist": 0.03230242608023648, + "valid_pour_held_gripper_dist": 0.007319009663750167, + "valid_pour_required_height": 0.791106269596187, + "valid_pour_held_z": 1.0126581732737565, + "valid_pour_source_tilt_deg": 2.1519117772059815, + "valid_pour_source_upright_tilt_deg": 2.3075372247770822, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3358043567430017, + 0.2957451056277717, + 1.0126581732737565 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3245225420740118, + 0.31940242125427676, + 1.0126581732737565 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3301634494085067, + 0.3075737634410242, + 1.0126581732737565 + ], + "valid_pour_held_grasp_object_position": [ + 0.3358043567430017, + 0.31940242125427676, + 1.0126581732737565 + ], + "valid_pour_held_grasp_finger_gap": 0.026209691430413986, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023810682201698227, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01529451542581889, + -0.9991891170749966, + 0.03724494753357033 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005837687177853595, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03346743375344775, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3358043567430017, + 0.2957451056277717, + 1.0126581732737565 + ], + "held_grasp_finger_b": [ + 0.3245225420740118, + 0.31940242125427676, + 1.0126581732737565 + ], + "held_grasp_midpoint": [ + 0.3301634494085067, + 0.3075737634410242, + 1.0126581732737565 + ], + "held_grasp_object_position": [ + 0.3358043567430017, + 0.31940242125427676, + 1.0126581732737565 + ], + "held_grasp_finger_gap": 0.026209691430413986, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023810682201698227, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01529451542581889, + -0.9991891170749966, + 0.03724494753357033 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005837687177853595, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03346743375344775, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17621747130413912, + -0.035703199965172315, + 0.7565864617061335 + ], + "target_position": [ + 0.18159714117530976, + -0.03519117049008046, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005403982060124178, + "xy_threshold": 0.08, + "gripper_dist": 0.21207372909983357, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864617061335, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537233853471052, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0859379865825156, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1839822796773632, + "release_required_pad_clearance": 0.0529689932912578, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9731654231983643, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 292, + "max_placed_release_frames": 292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34715108495169406, + 0.3468283954807561, + 1.16424616947412 + ], + "current_z": 1.16424616947412, + "required_z": 0.861106269596187, + "initial_z": 0.761106269596187, + "lift_margin": 0.303139899877933, + "gripper_z": 1.1531646357621121, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.342333975269796, + 0.3420636019471251, + 1.1531646357621121 + ], + "object_minus_gripper": [ + 0.00481710968189808, + 0.004764793533631018, + 0.011081533712007818 + ], + "object_to_gripper_xy": 0.006775529728779011, + "object_to_gripper_z": 0.011081533712007818, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34715108495169406, + 0.3229722823018705, + 1.16424616947412 + ], + "finger_b": [ + 0.33624415240814853, + 0.3468283954807561, + 1.16424616947412 + ], + "finger_midpoint": [ + 0.3416976186799213, + 0.3349003388913133, + 1.16424616947412 + ], + "object_minus_finger_midpoint": [ + 0.005453466271772733, + 0.011928056589442793, + 0.0 + ], + "finger_gap": 0.026231189708308192, + "fingertip_max_gap": 0.0905088895507695, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013115594854154058, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16424616947412, + "object_top_z": 1.2141500218902155, + "finger_top_clearance": 0.04990385241609552, + "fingertip_min_top_clearance": 0.01497115572482862, + "object_projection_between_fingers": 0.8271102375377386, + "object_to_finger_line_xy": 0.009919375372855513, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775444477538475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.31155829797552537, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3273907302654948, + -0.37059536508057367, + 0.851539566834507 + ], + "target_position": [ + 0.32034372332861216, + -0.3719702972363782, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0071798847624134935, + "xy_threshold": 0.08, + "gripper_dist": 0.18515301631248846, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539566834507, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543394269862758, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504131268034786, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1535019146718904, + "release_required_pad_clearance": 0.05252065634017393, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190582360629996, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008678793907165527, + "max_z_decrease": 0.008678793907165527, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010743859713915, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008678793907165527, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021080489203655944, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008678793907165527, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008679539588991344, + "max_button_displacement": 0.12, + "button_start": [ + 0.1760436445474624, + -0.42823174595832825, + 0.7768088579177856 + ], + "button_final": [ + 0.1760436445474624, + -0.42823174595832825, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17469336882997452, + -0.42926555475658223, + 0.8038737938225434 + ], + "closest_button": [ + 0.17594249546527857, + -0.4282152056694031, + 0.7689011096954346 + ], + "closest_ee_minus_button": [ + -0.0012491266353040487, + -0.0010503490871791588, + 0.034972684127108855 + ], + "button_min_z_position": [ + 0.17593267560005188, + -0.4282066524028778, + 0.7681300640106201 + ], + "min_active_finger_to_button": 0.1470624667733859, + "closest_active_finger": [ + 0.03398757427930832, + -0.4122048020362854, + 0.8088571429252625 + ], + "closest_active_finger_button": [ + 0.1760488301515579, + -0.42823952436447144, + 0.7743773460388184 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14206125587224958, + 0.016034722328186035, + 0.03447979688644409 + ], + "min_contact_pad_to_button": 0.021080489203655944, + "closest_contact_pad": [ + 0.17593267560005188, + -0.43049249760883124, + 0.7890862549040023 + ], + "closest_contact_pad_button": [ + 0.17593267560005188, + -0.4282066524028778, + 0.7681300640106201 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022858452059534295, + 0.020956190893382187 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 25, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e849f53b46bcd3d0806f81d1c12f95570f6e4dcc3aab49a39480e510effc215d", + "visual_seed": 8520973464459288299, + "episode_index": 25, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_26_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_26_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1116f8d5cc883827f2b7d9c9d9a33d6d74549cb3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_26_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 26, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20397870207009802, + -0.030393661850995575, + 0.9987011809521277 + ], + "current_z": 0.9987011809521277, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14211461393891733, + "gripper_z": 1.0017172298454162, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19936961755133822, + -0.0350054802226913, + 1.0017172298454162 + ], + "object_minus_gripper": [ + 0.004609084518759798, + 0.0046118183716957264, + -0.0030160488932885476 + ], + "object_to_gripper_xy": 0.006520163249074479, + "object_to_gripper_z": -0.0030160488932885476, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20397870207009802, + -0.05441690834668823, + 0.9987011809521277 + ], + "finger_b": [ + 0.19248841070441824, + -0.030393661850995575, + 0.9987011809521277 + ], + "finger_midpoint": [ + 0.19823355638725815, + -0.0424052850988419, + 0.9987011809521277 + ], + "object_minus_finger_midpoint": [ + 0.005745145682839875, + 0.012011623247846326, + 0.0 + ], + "finger_gap": 0.02662974216662686, + "fingertip_max_gap": 0.09162074626893998, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013314871083313423, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9987011809521277, + "object_top_z": 1.0441748851009385, + "finger_top_clearance": 0.0454737041488108, + "fingertip_min_top_clearance": 0.01364211124464324, + "object_projection_between_fingers": 0.8138220860726258, + "object_to_finger_line_xy": 0.010365631783359447, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048310373134469994, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3321403567920158, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33749122042317004, + 0.3500675018595166, + 0.7611063888054764 + ], + "gripper_position": [ + 0.329714251060997, + 0.312999721524772, + 1.015744336181815 + ], + "target_minus_gripper": [ + 0.007776969362173036, + 0.037067780334744616, + -0.2546379473763386 + ], + "held_position": [ + 0.3344060352249288, + 0.31742705079405276, + 1.0125830010706978 + ], + "held_minus_target": [ + -0.003085185198241247, + -0.03264045106546387, + 0.25147661226522133 + ], + "held_minus_gripper": [ + 0.004691784163931789, + 0.004427329269280744, + -0.0031613351111172694 + ], + "xy_dist": 0.037874814737567465, + "held_xy_dist": 0.03278593316445924, + "held_gripper_dist": 0.007183879368720909, + "max_held_gripper_dist": 0.007188248117936773, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0125830010706978, + "required_height": 0.7911063888054765, + "gripper_z": 1.015744336181815, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19536040994493, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7837037798460117, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.151245094941043, + "max_source_tilt_deg": 89.72062188404188, + "source_upright_tilt_deg": 2.207327750705895, + "max_source_upright_tilt_deg": 89.99521144755457, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.151245094941043, + "source_upright_return_tilt_deg": 2.207327750705895, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 8.940696716308594e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3375, + 0.3501, + 0.7611 + ], + "controller_target_position": [ + 0.3375, + 0.3501, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0004, + -0.0015, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3378, + 0.3232, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0643, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000357974350049074, + -0.0014745542442330555, + -0.001957168343787343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.207329976234442, + "source_return_step_error_deg": 2.151251203643877, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.213029854946955, + "source_return_best_wrist_position": -1.612499713897705, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612499713897705 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3375, + 0.3501, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3375, + 0.3501, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0004, + -0.0015, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3378, + 0.3232, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0643, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.000357974350049074, + -0.0014745542442330555, + -0.001957168343787343 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.207329976234442, + "pour_controller_source_return_step_error_deg": 2.151251203643877, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.213029854946955, + "pour_controller_source_return_best_wrist_position": -1.612499713897705, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612499713897705, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037874814737567465, + "valid_pour_held_xy_dist": 0.03278593316445924, + "valid_pour_held_gripper_dist": 0.007183879368720909, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0125830010706978, + "valid_pour_source_tilt_deg": 2.151245094941043, + "valid_pour_source_upright_tilt_deg": 2.207327750705895, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3344060352249288, + 0.29379909451393016, + 1.0125830010706978 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3232998633407618, + 0.31742705079405276, + 1.0125830010706978 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32885294928284525, + 0.30561307265399146, + 1.0125830010706978 + ], + "valid_pour_held_grasp_object_position": [ + 0.3344060352249288, + 0.31742705079405276, + 1.0125830010706978 + ], + "valid_pour_held_grasp_finger_gap": 0.02610799440585291, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02372668767219271, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010468335491094988, + -0.9992580085629386, + 0.037065432344384086 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005693236156714737, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033453144263019645, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3344060352249288, + 0.29379909451393016, + 1.0125830010706978 + ], + "held_grasp_finger_b": [ + 0.3232998633407618, + 0.31742705079405276, + 1.0125830010706978 + ], + "held_grasp_midpoint": [ + 0.32885294928284525, + 0.30561307265399146, + 1.0125830010706978 + ], + "held_grasp_object_position": [ + 0.3344060352249288, + 0.31742705079405276, + 1.0125830010706978 + ], + "held_grasp_finger_gap": 0.02610799440585291, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02372668767219271, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010468335491094988, + -0.9992580085629386, + 0.037065432344384086 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005693236156714737, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033453144263019645, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17465656962465959, + -0.0350459974841136, + 0.7565863045087956 + ], + "target_position": [ + 0.18180432384283646, + -0.03179421803685819, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007852672152653386, + "xy_threshold": 0.08, + "gripper_dist": 0.2117875582811047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863045087956, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547377347361514, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0878686759575933, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1829484307484668, + "release_required_pad_clearance": 0.053934337978796654, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.8782532733007646, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 293, + "max_placed_release_frames": 293 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34636743878590903, + 0.3484019186671349, + 1.1642853225203942 + ], + "current_z": 1.1642853225203942, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30317899331956255, + "gripper_z": 1.1533025579906366, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3414717020844795, + 0.34355591007017106, + 1.1533025579906366 + ], + "object_minus_gripper": [ + 0.0048957367014295095, + 0.0048460085969638245, + 0.01098276452975755 + ], + "object_to_gripper_xy": 0.006888543907936653, + "object_to_gripper_z": 0.01098276452975755, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34636743878590903, + 0.32446393726894035, + 1.1642853225203942 + ], + "finger_b": [ + 0.33538090851388425, + 0.3484019186671349, + 1.1642853225203942 + ], + "finger_midpoint": [ + 0.34087417364989664, + 0.3364329279680376, + 1.1642853225203942 + ], + "object_minus_finger_midpoint": [ + 0.005493265136012393, + 0.011968990699097293, + 0.0 + ], + "finger_gap": 0.026338769918855823, + "fingertip_max_gap": 0.09022977685254943, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013169384959427936, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1642853225203942, + "object_top_z": 1.2140460239644177, + "finger_top_clearance": 0.04976070144402356, + "fingertip_min_top_clearance": 0.014928210433207066, + "object_projection_between_fingers": 0.8260076570447246, + "object_to_finger_line_xy": 0.009985104015588544, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04761488842627472, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19536645303330147, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3308280854594436, + -0.3681476692338076, + 0.851539571656844 + ], + "target_position": [ + 0.32307625277476093, + -0.3697038969431656, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00790650078446135, + "xy_threshold": 0.08, + "gripper_dist": 0.1862007669723584, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539571656844, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0755201229732681, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08618830963265388, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15420406476022605, + "release_required_pad_clearance": 0.05309415481632694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.2162577500621456, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008700311183929443, + "max_z_decrease": 0.008700311183929443, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035040640830137075, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008700311183929443, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.020936898213663957, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008700311183929443, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008700563912099604, + "max_button_displacement": 0.12, + "button_start": [ + 0.17877617478370664, + -0.42596536874771124, + 0.7768088579177856 + ], + "button_final": [ + 0.17877617478370664, + -0.42596536874771124, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17880031797466447, + -0.42414021316167066, + 0.8031025205626544 + ], + "closest_button": [ + 0.17871277034282684, + -0.4259459376335144, + 0.7681085467338562 + ], + "closest_ee_minus_button": [ + 8.754763183763115e-05, + 0.0018057244718437393, + 0.03499397382879821 + ], + "button_min_z_position": [ + 0.17871277034282684, + -0.4259459376335144, + 0.7681085467338562 + ], + "min_active_finger_to_button": 0.14506183512538, + "closest_active_finger": [ + 0.05229506641626358, + -0.488130658864975, + 0.8104628920555115 + ], + "closest_active_finger_button": [ + 0.17878143489360804, + -0.42597049474716187, + 0.7761081457138062 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12648636847734446, + -0.06216016411781311, + 0.03435474634170532 + ], + "min_contact_pad_to_button": 0.020936898213663957, + "closest_contact_pad": [ + 0.17871277034282684, + -0.4259459376335144, + 0.7890454449475202 + ], + "closest_contact_pad_button": [ + 0.17871277034282684, + -0.4259459376335144, + 0.7681085467338562 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020936898213663957 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 26, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3a98122b80ac63243723e94d98e844951f1838d4ef64cff65a514ad347645196", + "visual_seed": 1417333549331580196, + "episode_index": 26, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_27_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_27_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ed17acce88c370ecb20206f2c7ade01ae23994aa --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_27_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 27, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20494155176246845, + -0.031756751997142424, + 0.9976398937049102 + ], + "current_z": 0.9976398937049102, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.14105332669170012, + "gripper_z": 1.0005573803963073, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20033082107331204, + -0.03624092200565007, + 1.0005573803963073 + ], + "object_minus_gripper": [ + 0.004610730689156406, + 0.004484170008507649, + -0.00291748669139702 + ], + "object_to_gripper_xy": 0.006431688592673637, + "object_to_gripper_z": -0.00291748669139702, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20494155176246845, + -0.055971756709876516, + 0.9976398937049102 + ], + "finger_b": [ + 0.19398991599588744, + -0.031756751997142424, + 0.9976398937049102 + ], + "finger_midpoint": [ + 0.19946573387917793, + -0.04386425435350947, + 0.9976398937049102 + ], + "object_minus_finger_midpoint": [ + 0.005475817883290518, + 0.012107502356367046, + 0.0 + ], + "finger_gap": 0.026576395150614215, + "fingertip_max_gap": 0.09231073773552398, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013288197575307113, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9976398937049102, + "object_top_z": 1.0433517279709041, + "finger_top_clearance": 0.0457118342659939, + "fingertip_min_top_clearance": 0.01371355027979817, + "object_projection_between_fingers": 0.8301889927752789, + "object_to_finger_line_xy": 0.009978550898155858, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04865536886776199, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4845397439621877, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33732215184826475, + 0.3532935138510175, + 0.7611065676194109 + ], + "gripper_position": [ + 0.33008599214079326, + 0.31684407795469033, + 1.0158462010911067 + ], + "target_minus_gripper": [ + 0.00723615970747149, + 0.036449435896327154, + -0.2547396334716958 + ], + "held_position": [ + 0.33473387115132924, + 0.32116812876405776, + 1.0127499274629996 + ], + "held_minus_target": [ + -0.0025882806969355077, + -0.032125385086959724, + 0.25164335984358877 + ], + "held_minus_gripper": [ + 0.004647879010535982, + 0.00432405080936743, + -0.003096273628107049 + ], + "xy_dist": 0.03716077750091481, + "held_xy_dist": 0.032229482837172294, + "held_gripper_dist": 0.007063080424197593, + "max_held_gripper_dist": 0.007081353857033818, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194109, + "held_z": 1.0127499274629996, + "required_height": 0.7911065676194109, + "gripper_z": 1.0158462010911067, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20229988214166, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8954325858014511, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3184670326171246, + "max_source_tilt_deg": 89.78547856992043, + "source_upright_tilt_deg": 2.4902010843931284, + "max_source_upright_tilt_deg": 89.93682543106901, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3184670326171246, + "source_upright_return_tilt_deg": 2.4902010843931284, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.6858739404357614e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3373, + 0.3533, + 0.7611 + ], + "controller_target_position": [ + 0.3373, + 0.3533, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + -0.0005, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3376, + 0.3274, + 1.0249 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.065, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003048684813932727, + -0.0004938098577964998, + -0.0015661165537880861 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4901861481768335, + "source_return_step_error_deg": 2.318438223380761, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.492131518212915, + "source_return_best_wrist_position": -1.6128418445587158, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128418445587158 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3373, + 0.3533, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3373, + 0.3533, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + -0.0005, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3376, + 0.3274, + 1.0249 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.065, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003048684813932727, + -0.0004938098577964998, + -0.0015661165537880861 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4901861481768335, + "pour_controller_source_return_step_error_deg": 2.318438223380761, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.492131518212915, + "pour_controller_source_return_best_wrist_position": -1.6128418445587158, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128418445587158, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03716077750091481, + "valid_pour_held_xy_dist": 0.032229482837172294, + "valid_pour_held_gripper_dist": 0.007063080424197593, + "valid_pour_required_height": 0.7911065676194109, + "valid_pour_held_z": 1.0127499274629996, + "valid_pour_source_tilt_deg": 2.3184670326171246, + "valid_pour_source_upright_tilt_deg": 2.4902010843931284, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33473387115132924, + 0.29743743270471495, + 1.0127499274629996 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3239580660143109, + 0.32116812876405776, + 1.0127499274629996 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32934596858282006, + 0.30930278073438633, + 1.0127499274629996 + ], + "valid_pour_held_grasp_object_position": [ + 0.33473387115132924, + 0.32116812876405776, + 1.0127499274629996 + ], + "valid_pour_held_grasp_finger_gap": 0.026062691952519017, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02391844952287029, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.019503220144737186, + -0.9990556772443364, + 0.03882496838178096 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005636978208669139, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03345116310419969, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33473387115132924, + 0.29743743270471495, + 1.0127499274629996 + ], + "held_grasp_finger_b": [ + 0.3239580660143109, + 0.32116812876405776, + 1.0127499274629996 + ], + "held_grasp_midpoint": [ + 0.32934596858282006, + 0.30930278073438633, + 1.0127499274629996 + ], + "held_grasp_object_position": [ + 0.33473387115132924, + 0.32116812876405776, + 1.0127499274629996 + ], + "held_grasp_finger_gap": 0.026062691952519017, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02391844952287029, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.019503220144737186, + -0.9990556772443364, + 0.03882496838178096 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005636978208669139, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03345116310419969, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18426487169777034, + -0.02867703083855, + 0.75658732070083 + ], + "target_position": [ + 0.18499969255872728, + -0.0320820029019724, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0034833599369551932, + "xy_threshold": 0.08, + "gripper_dist": 0.21593098958332374, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.75658732070083, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07576169317021714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09110624241432579, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18757069536942847, + "release_required_pad_clearance": 0.055553121207162895, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.256502482272968, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.346296190253465, + 0.3518357310044302, + 1.1629498695784113 + ], + "current_z": 1.1629498695784113, + "required_z": 0.8611065676194108, + "initial_z": 0.7611065676194109, + "lift_margin": 0.30184330195900044, + "gripper_z": 1.1517615802845904, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34159496823823676, + 0.34700530729230694, + 1.1517615802845904 + ], + "object_minus_gripper": [ + 0.0047012220152282125, + 0.004830423712123277, + 0.011188289293820874 + ], + "object_to_gripper_xy": 0.006740510490690541, + "object_to_gripper_z": 0.011188289293820874, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.346296190253465, + 0.32802664094423106, + 1.1629498695784113 + ], + "finger_b": [ + 0.3353288930941627, + 0.3518357310044302, + 1.1629498695784113 + ], + "finger_midpoint": [ + 0.3408125416738138, + 0.33993118597433064, + 1.1629498695784113 + ], + "object_minus_finger_midpoint": [ + 0.005483648579651168, + 0.011904545030099578, + 0.0 + ], + "finger_gap": 0.02621362959368874, + "fingertip_max_gap": 0.09033575414887654, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106814796844382, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629498695784113, + "object_top_z": 1.2129486980197657, + "finger_top_clearance": 0.04999882844135439, + "fingertip_min_top_clearance": 0.014999648532406318, + "object_projection_between_fingers": 0.8249569367549594, + "object_to_finger_line_xy": 0.009961282349303638, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766787707443827, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.44556288153473145, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3366650067737628, + -0.36542412682518344, + 0.8515395720610374 + ], + "target_position": [ + 0.3295048529347174, + -0.3666186331074139, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007259107951882604, + "xy_threshold": 0.08, + "gripper_dist": 0.18443190625224548, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395720610374, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753279714551706, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08631407837018011, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15290796846691482, + "release_required_pad_clearance": 0.05315703918509006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3387913300705634, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008570075035095215, + "max_z_decrease": 0.008570075035095215, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500048127023922, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008570075035095215, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021053352048143036, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008570075035095215, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00857029892176276, + "max_button_displacement": 0.12, + "button_start": [ + 0.1852047741413116, + -0.422880083322525, + 0.7768088579177856 + ], + "button_final": [ + 0.1852047741413116, + -0.422880083322525, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18534519024589405, + -0.42240923725137125, + 0.8032358518147958 + ], + "closest_button": [ + 0.1851475983858108, + -0.42285624146461487, + 0.7682387828826904 + ], + "closest_ee_minus_button": [ + 0.00019759186008325158, + 0.00044700421324361805, + 0.03499706893210541 + ], + "button_min_z_position": [ + 0.1851475983858108, + -0.42285624146461487, + 0.7682387828826904 + ], + "min_active_finger_to_button": 0.14560109583504588, + "closest_active_finger": [ + 0.058769844472408295, + -0.48626765608787537, + 0.8086816668510437 + ], + "closest_active_finger_button": [ + 0.1852115094661712, + -0.4228856861591339, + 0.774114191532135 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12644166499376291, + -0.06338196992874146, + 0.03456747531890869 + ], + "min_contact_pad_to_button": 0.021053352048143036, + "closest_contact_pad": [ + 0.1851475983858108, + -0.4235026079410367, + 0.7892822104276795 + ], + "closest_contact_pad_button": [ + 0.1851475983858108, + -0.42285624146461487, + 0.7682387828826904 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006463664764218557, + 0.021043427544989113 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 27, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c537a2a01cc00315f9701ce83f181738de49491207a17cd3725b01078c605f5e", + "visual_seed": 4421710664406981246, + "episode_index": 27, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_28_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_28_success.json new file mode 100644 index 0000000000000000000000000000000000000000..aeaa6e200efd5da8895f41e664014b17c09c62ff --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_28_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 28, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2023368949316297, + -0.03641973631863248, + 0.9965607370255933 + ], + "current_z": 0.9965607370255933, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13997428922167254, + "gripper_z": 0.9995534122149885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19777470315191248, + -0.040903135475832075, + 0.9995534122149885 + ], + "object_minus_gripper": [ + 0.0045621917797172284, + 0.004483399157199593, + -0.0029926751893951664 + ], + "object_to_gripper_xy": 0.00639644134169129, + "object_to_gripper_z": -0.0029926751893951664, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2023368949316297, + -0.06061070049315292, + 0.9965607370255933 + ], + "finger_b": [ + 0.19127088771673112, + -0.03641973631863248, + 0.9965607370255933 + ], + "finger_midpoint": [ + 0.1968038913241804, + -0.0485152184058927, + 0.9965607370255933 + ], + "object_minus_finger_midpoint": [ + 0.005533003607449294, + 0.012095482087260218, + 0.0 + ], + "finger_gap": 0.026601865787442783, + "fingertip_max_gap": 0.0916879880463966, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013300932893721392, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965607370255933, + "object_top_z": 1.041982154535885, + "finger_top_clearance": 0.045421417510291606, + "fingertip_min_top_clearance": 0.013626425253087498, + "object_projection_between_fingers": 0.8269555391722168, + "object_to_finger_line_xy": 0.010063105581750628, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048343994023198306, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4331779361020398, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3386066617454968, + 0.35691404898628665, + 0.7611063292008318 + ], + "gripper_position": [ + 0.3326737401830441, + 0.3218827264863663, + 1.01635289911893 + ], + "target_minus_gripper": [ + 0.005932921562452731, + 0.03503132249992036, + -0.25524656991809813 + ], + "held_position": [ + 0.3372723324665411, + 0.3262346479836349, + 1.01322275039075 + ], + "held_minus_target": [ + -0.0013343292789557148, + -0.030679401002651763, + 0.2521164211899183 + ], + "held_minus_gripper": [ + 0.004598592283497016, + 0.004351921497268596, + -0.003130148728179849 + ], + "xy_dist": 0.035530171887561184, + "held_xy_dist": 0.03070840406967103, + "held_gripper_dist": 0.007062867885551362, + "max_held_gripper_dist": 0.007068093412234347, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008318, + "held_z": 1.01322275039075, + "required_height": 0.7911063292008318, + "gripper_z": 1.01635289911893, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20518222197141, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6907698484529459, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.212762419775385, + "max_source_tilt_deg": 89.67370307852923, + "source_upright_tilt_deg": 2.5726199087561237, + "max_source_upright_tilt_deg": 89.60379211538805, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.212762419775385, + "source_upright_return_tilt_deg": 2.5726199087561237, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.737759081973225e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3386, + 0.3569, + 0.7611 + ], + "controller_target_position": [ + 0.3386, + 0.3569, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + 0.0006, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3406, + 0.3322, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0652, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019449063444210418, + 0.0006480072517525259, + -0.0011277747488351135 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5726404208556484, + "source_return_step_error_deg": 2.212764628488613, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5737870979335056, + "source_return_best_wrist_position": -1.6129813194274902, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129813194274902 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3386, + 0.3569, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3386, + 0.3569, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + 0.0006, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3406, + 0.3322, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0652, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019449063444210418, + 0.0006480072517525259, + -0.0011277747488351135 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5726404208556484, + "pour_controller_source_return_step_error_deg": 2.212764628488613, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5737870979335056, + "pour_controller_source_return_best_wrist_position": -1.6129813194274902, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129813194274902, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035530171887561184, + "valid_pour_held_xy_dist": 0.03070840406967103, + "valid_pour_held_gripper_dist": 0.007062867885551362, + "valid_pour_required_height": 0.7911063292008318, + "valid_pour_held_z": 1.01322275039075, + "valid_pour_source_tilt_deg": 2.212762419775385, + "valid_pour_source_upright_tilt_deg": 2.5726199087561237, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3372723324665411, + 0.30263191611469664, + 1.01322275039075 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32634593227994607, + 0.3262346479836349, + 1.01322275039075 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3318091323732436, + 0.31443328204916576, + 1.01322275039075 + ], + "valid_pour_held_grasp_object_position": [ + 0.3372723324665411, + 0.3262346479836349, + 1.01322275039075 + ], + "valid_pour_held_grasp_finger_gap": 0.026009136331578114, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023835280775935656, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.023460340619675585, + -0.9989921436527313, + 0.038266295066671785 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005756109633068863, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03353892164796735, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3372723324665411, + 0.30263191611469664, + 1.01322275039075 + ], + "held_grasp_finger_b": [ + 0.32634593227994607, + 0.3262346479836349, + 1.01322275039075 + ], + "held_grasp_midpoint": [ + 0.3318091323732436, + 0.31443328204916576, + 1.01322275039075 + ], + "held_grasp_object_position": [ + 0.3372723324665411, + 0.3262346479836349, + 1.01322275039075 + ], + "held_grasp_finger_gap": 0.026009136331578114, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023835280775935656, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.023460340619675585, + -0.9989921436527313, + 0.038266295066671785 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005756109633068863, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03353892164796735, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18971177060265157, + -0.03650808891017278, + 0.7565864478039208 + ], + "target_position": [ + 0.17976570988974375, + -0.03781278146041992, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01003126843203385, + "xy_threshold": 0.08, + "gripper_dist": 0.22062083400977642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864478039208, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556426124028305, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19114128077656597, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3474292991596972, + 0.35197545475439695, + 1.1647838214301243 + ], + "current_z": 1.1647838214301243, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30367743262464775, + "gripper_z": 1.1536877433515684, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3427146004469327, + 0.3472754175911656, + 1.1536877433515684 + ], + "object_minus_gripper": [ + 0.004714698712764531, + 0.004700037163231363, + 0.011096078078555838 + ], + "object_to_gripper_xy": 0.006657231653465234, + "object_to_gripper_z": 0.011096078078555838, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3474292991596972, + 0.3282246184715756, + 1.1647838214301243 + ], + "finger_b": [ + 0.33657608615740536, + 0.35197545475439695, + 1.1647838214301243 + ], + "finger_midpoint": [ + 0.3420026926585513, + 0.34010003661298627, + 1.1647838214301243 + ], + "object_minus_finger_midpoint": [ + 0.005426606501145903, + 0.011875418141410687, + 0.0 + ], + "finger_gap": 0.026113108903508625, + "fingertip_max_gap": 0.09051334059650526, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0130565544517543, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647838214301243, + "object_top_z": 1.2146341381591088, + "finger_top_clearance": 0.049850316728984545, + "fingertip_min_top_clearance": 0.01495509501869533, + "object_projection_between_fingers": 0.8272573837022831, + "object_to_finger_line_xy": 0.009871397776209913, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775667029825263, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40010234169632036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32775507986926183, + -0.3645983367772501, + 0.8515395676112043 + ], + "target_position": [ + 0.32100901827243106, + -0.36541436013890477, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0067952366548194015, + "xy_threshold": 0.08, + "gripper_dist": 0.18308386030903792, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395676112043, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528698317962272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579469322950427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1518093161759521, + "release_required_pad_clearance": 0.052897346614752136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8346197229990534, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008628308773040771, + "max_z_decrease": 0.008628308773040771, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035054499870733544, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008628308773040771, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02114869713280329, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008628308773040771, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00862890372545189, + "max_button_displacement": 0.12, + "button_start": [ + 0.17670895159244532, + -0.42167583107948303, + 0.7768088579177856 + ], + "button_final": [ + 0.17670895159244532, + -0.42167583107948303, + 0.7768088579177856 + ], + "closest_ee": [ + 0.178512908604417, + -0.4225297569113165, + 0.8042004988561247 + ], + "closest_button": [ + 0.17661772668361658, + -0.42168930172920227, + 0.7692073583602905 + ], + "closest_ee_minus_button": [ + 0.001895181920800404, + -0.0008404551821142303, + 0.03499314049583413 + ], + "button_min_z_position": [ + 0.1766121983528137, + -0.42164573073387146, + 0.7681805491447449 + ], + "min_active_finger_to_button": 0.14417385735606913, + "closest_active_finger": [ + 0.037697747349739075, + -0.40556469559669495, + 0.8079200387001038 + ], + "closest_active_finger_button": [ + 0.17672123014926905, + -0.42168793082237244, + 0.7732990384101868 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13902348279952997, + 0.01612323522567749, + 0.03462100028991699 + ], + "min_contact_pad_to_button": 0.02114869713280329, + "closest_contact_pad": [ + 0.1766121983528137, + -0.42371696507276674, + 0.78922757693321 + ], + "closest_contact_pad_button": [ + 0.1766121983528137, + -0.42164573073387146, + 0.7681805491447449 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002071234338895278, + 0.021047027788465122 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 28, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "eb1430e16303a458058055059a82f94e5c45111cc2e5ef26e8aff5f9c1c52513", + "visual_seed": 8014847623006812153, + "episode_index": 28, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_29_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_29_success.json new file mode 100644 index 0000000000000000000000000000000000000000..d6af68fa633276b3f6a6a334d066882c8b36f745 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_29_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 29, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20051673878731918, + -0.034874766766380995, + 0.9972273341399998 + ], + "current_z": 0.9972273341399998, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.14064070752214464, + "gripper_z": 1.0002664381966206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1959040306015814, + -0.03942017886834667, + 1.0002664381966206 + ], + "object_minus_gripper": [ + 0.004612708185737779, + 0.004545412101965678, + -0.0030391040566208893 + ], + "object_to_gripper_xy": 0.006475943790944171, + "object_to_gripper_z": -0.0030391040566208893, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20051673878731918, + -0.059065692137630466, + 0.9972273341399998 + ], + "finger_b": [ + 0.18925079278496132, + -0.034874766766380995, + 0.9972273341399998 + ], + "finger_midpoint": [ + 0.19488376578614025, + -0.04697022945200573, + 0.9972273341399998 + ], + "object_minus_finger_midpoint": [ + 0.005632973001178931, + 0.012095462685624732, + 0.0 + ], + "finger_gap": 0.0266856217773805, + "fingertip_max_gap": 0.09118009778163413, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013342810888690248, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9972273341399998, + "object_top_z": 1.0425235955949363, + "finger_top_clearance": 0.04529626145493659, + "fingertip_min_top_clearance": 0.013588878436480994, + "object_projection_between_fingers": 0.8217700530008, + "object_to_finger_line_xy": 0.010212752816970998, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04809004889081707, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.1893974683050432, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3385545970882854, + 0.35325092633232547, + 0.7611063888054767 + ], + "gripper_position": [ + 0.33118798912673275, + 0.3178816750470874, + 1.0163801083222155 + ], + "target_minus_gripper": [ + 0.00736660796155264, + 0.035369251285238046, + -0.25527371951673883 + ], + "held_position": [ + 0.33585567543972206, + 0.3222881966017815, + 1.0132224492645825 + ], + "held_minus_target": [ + -0.002698921648563335, + -0.03096272973054398, + 0.25211606045910584 + ], + "held_minus_gripper": [ + 0.004667686312989305, + 0.004406521554694065, + -0.003157659057632989 + ], + "xy_dist": 0.036128255553479524, + "held_xy_dist": 0.03108013530266231, + "held_gripper_dist": 0.007153708021208494, + "max_held_gripper_dist": 0.0071593247332967505, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0132224492645825, + "required_height": 0.7911063888054767, + "gripper_z": 1.0163801083222155, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20014154236394, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.224955305557049, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.177885688132658, + "max_source_tilt_deg": 89.95331854065714, + "source_upright_tilt_deg": 2.3549481623992246, + "max_source_upright_tilt_deg": 89.86407911788518, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.177885688132658, + "source_upright_return_tilt_deg": 2.3549481623992246, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.812804499357408e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3386, + 0.3533, + 0.7611 + ], + "controller_target_position": [ + 0.3386, + 0.3533, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0008, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3378, + 0.3287, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0647, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007128725301352038, + 0.0008384643291921576, + -0.0006774571760035891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3549520781840445, + "source_return_step_error_deg": 2.177877699608438, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3637223619598156, + "source_return_best_wrist_position": -1.6127064228057861, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127064228057861 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3386, + 0.3533, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3386, + 0.3533, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0008, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3378, + 0.3287, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0647, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007128725301352038, + 0.0008384643291921576, + -0.0006774571760035891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3549520781840445, + "pour_controller_source_return_step_error_deg": 2.177877699608438, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3637223619598156, + "pour_controller_source_return_best_wrist_position": -1.6127064228057861, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127064228057861, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036128255553479524, + "valid_pour_held_xy_dist": 0.03108013530266231, + "valid_pour_held_gripper_dist": 0.007153708021208494, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0132224492645825, + "valid_pour_source_tilt_deg": 2.177885688132658, + "valid_pour_source_upright_tilt_deg": 2.3549481623992246, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33585567543972206, + 0.2986583118960348, + 1.0132224492645825 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3248121957602563, + 0.3222881966017815, + 1.0132224492645825 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33033393559998914, + 0.31047325424890815, + 1.0132224492645825 + ], + "valid_pour_held_grasp_object_position": [ + 0.33585567543972206, + 0.3222881966017815, + 1.0132224492645825 + ], + "valid_pour_held_grasp_finger_gap": 0.02608313429474407, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023796507179074517, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01689493757429321, + -0.999155458153596, + 0.03745572754918224 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005737521208752925, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03348855027606106, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33585567543972206, + 0.2986583118960348, + 1.0132224492645825 + ], + "held_grasp_finger_b": [ + 0.3248121957602563, + 0.3222881966017815, + 1.0132224492645825 + ], + "held_grasp_midpoint": [ + 0.33033393559998914, + 0.31047325424890815, + 1.0132224492645825 + ], + "held_grasp_object_position": [ + 0.33585567543972206, + 0.3222881966017815, + 1.0132224492645825 + ], + "held_grasp_finger_gap": 0.02608313429474407, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023796507179074517, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01689493757429321, + -0.999155458153596, + 0.03745572754918224 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005737521208752925, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03348855027606106, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1844263561821039, + -0.03896807646074039, + 0.7565863446410652 + ], + "target_position": [ + 0.1762912198890431, + -0.03697728678790295, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008375182745955542, + "xy_threshold": 0.08, + "gripper_dist": 0.22228445608032002, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863446410652, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07590949859933659, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08792239633185155, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19172051785288524, + "release_required_pad_clearance": 0.053961198165925775, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.9329413641444466, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34744241537488396, + 0.34930581173777453, + 1.1634734534379372 + ], + "current_z": 1.1634734534379372, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.30236700502781577, + "gripper_z": 1.1522109422170763, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3427380391642443, + 0.344561450891279, + 1.1522109422170763 + ], + "object_minus_gripper": [ + 0.0047043762106396825, + 0.004744360846495543, + 0.01126251122086086 + ], + "object_to_gripper_xy": 0.006681325869390932, + "object_to_gripper_z": 0.01126251122086086, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34744241537488396, + 0.3253060200799334, + 1.1634734534379372 + ], + "finger_b": [ + 0.33684201983456813, + 0.34930581173777453, + 1.1634734534379372 + ], + "finger_midpoint": [ + 0.3421422176047261, + 0.33730591590885395, + 1.1634734534379372 + ], + "object_minus_finger_midpoint": [ + 0.005300197770157888, + 0.011999895828920581, + 0.0 + ], + "finger_gap": 0.02623658486219057, + "fingertip_max_gap": 0.09026890975790589, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0131182924310953, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634734534379372, + "object_top_z": 1.2134258217600276, + "finger_top_clearance": 0.04995236832209038, + "fingertip_min_top_clearance": 0.014985710496627079, + "object_projection_between_fingers": 0.8367588918475207, + "object_to_finger_line_xy": 0.009696661581321634, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047634454878952945, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.45530242893894707, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3356117600747637, + -0.36386350669452283, + 0.8515395337772992 + ], + "target_position": [ + 0.3274866010714387, + -0.36589413603433907, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008375062050220036, + "xy_threshold": 0.08, + "gripper_dist": 0.18626547918567213, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395337772992, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515914074670321, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496542464183031, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15547121028456473, + "release_required_pad_clearance": 0.052482712320915156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.03956462552559983, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 155, + "max_placed_release_frames": 155 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008364498615264893, + "max_z_decrease": 0.008364498615264893, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502367111623149, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008364498615264893, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02113689775442673, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008364498615264893, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00836514512450798, + "max_button_displacement": 0.12, + "button_start": [ + 0.18318653106689453, + -0.42215558886528015, + 0.7768088579177856 + ], + "button_final": [ + 0.18318653106689453, + -0.42215558886528015, + 0.7768088579177856 + ], + "closest_ee": [ + 0.183564184941996, + -0.42036381115276494, + 0.8054685904763463 + ], + "closest_button": [ + 0.18309155106544495, + -0.42214876413345337, + 0.7704936265945435 + ], + "closest_ee_minus_button": [ + 0.00047263387655105404, + 0.0017849529806884257, + 0.03497496388180288 + ], + "button_min_z_position": [ + 0.18308575451374048, + -0.42212989926338196, + 0.7684443593025208 + ], + "min_active_finger_to_button": 0.1448536239896836, + "closest_active_finger": [ + 0.056222185492515564, + -0.4825785756111145, + 0.8079882264137268 + ], + "closest_active_finger_button": [ + 0.18320755660533902, + -0.4221664667129517, + 0.7732367515563965 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12698537111282346, + -0.060412108898162786, + 0.03475147485733032 + ], + "min_contact_pad_to_button": 0.02113689775442673, + "closest_contact_pad": [ + 0.18308575451374048, + -0.42212989926338196, + 0.7895812570569475 + ], + "closest_contact_pad_button": [ + 0.18308575451374048, + -0.42212989926338196, + 0.7684443593025208 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02113689775442673 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 29, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b1a7156f7f1396dc675bdb7c917935685b45b493d7fc36d5eb519237613f7048", + "visual_seed": 3840699963059856661, + "episode_index": 29, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_2_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_2_success.json new file mode 100644 index 0000000000000000000000000000000000000000..9d9e3601e558a182f9f05d01f2896602c3d68983 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_2_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 2, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20011597756440674, + -0.02400173992231408, + 0.9947945120032589 + ], + "current_z": 0.9947945120032589, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.13820812380398284, + "gripper_z": 0.9978408385133977, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19566715298485482, + -0.028566329434373247, + 0.9978408385133977 + ], + "object_minus_gripper": [ + 0.004448824579551924, + 0.004564589512059167, + -0.003046326510138808 + ], + "object_to_gripper_xy": 0.0063739718820548545, + "object_to_gripper_z": -0.003046326510138808, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20011597756440674, + -0.04786475832067034, + 0.9947945120032589 + ], + "finger_b": [ + 0.18859094502849494, + -0.02400173992231408, + 0.9947945120032589 + ], + "finger_midpoint": [ + 0.19435346129645084, + -0.035933249121492206, + 0.9947945120032589 + ], + "object_minus_finger_midpoint": [ + 0.005762516267955903, + 0.011931509199178125, + 0.0 + ], + "finger_gap": 0.026500377771535917, + "fingertip_max_gap": 0.09159003524020912, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013250188885767955, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9947945120032589, + "object_top_z": 1.040164087323571, + "finger_top_clearance": 0.04536957532031205, + "fingertip_min_top_clearance": 0.013610872596093598, + "object_projection_between_fingers": 0.8108613912222878, + "object_to_finger_line_xy": 0.010378043128936811, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829501762010456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5070311856543315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33776632566113085, + 0.35318855007156785, + 0.7611064484101212 + ], + "gripper_position": [ + 0.3309187842381408, + 0.31868300711289665, + 1.017026462155505 + ], + "target_minus_gripper": [ + 0.006847541422990044, + 0.0345055429586712, + -0.25592001374538376 + ], + "held_position": [ + 0.33547594049184737, + 0.32304885231140756, + 1.0138523047549064 + ], + "held_minus_target": [ + -0.002290385169283482, + -0.03013969776016029, + 0.2527458563447852 + ], + "held_minus_gripper": [ + 0.004557156253706562, + 0.004365845198510909, + -0.003174157400598565 + ], + "xy_dist": 0.03517842120408857, + "held_xy_dist": 0.030226598308401905, + "held_gripper_dist": 0.00706424466038884, + "max_held_gripper_dist": 0.007072051404712372, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0138523047549064, + "required_height": 0.7911064484101212, + "gripper_z": 1.017026462155505, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20658924094043, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6230657204858623, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1799444871578695, + "max_source_tilt_deg": 89.95050346405353, + "source_upright_tilt_deg": 2.2000730907964337, + "max_source_upright_tilt_deg": 89.82232540780043, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1799444871578695, + "source_upright_return_tilt_deg": 2.2000730907964337, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.429369702178807e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3378, + 0.3532, + 0.7611 + ], + "controller_target_position": [ + 0.3378, + 0.3532, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0002, + 0.0014, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3379, + 0.3292, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0642, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00016942542712020548, + 0.0013730589930875895, + 0.00017804294394351168 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.200055832397879, + "source_return_step_error_deg": 2.1799438073014006, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.1999543424994825, + "source_return_best_wrist_position": -1.6130881309509277, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6130881309509277 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3378, + 0.3532, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3378, + 0.3532, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0002, + 0.0014, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3379, + 0.3292, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0642, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00016942542712020548, + 0.0013730589930875895, + 0.00017804294394351168 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.200055832397879, + "pour_controller_source_return_step_error_deg": 2.1799438073014006, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.1999543424994825, + "pour_controller_source_return_best_wrist_position": -1.6130881309509277, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6130881309509277, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03517842120408857, + "valid_pour_held_xy_dist": 0.030226598308401905, + "valid_pour_held_gripper_dist": 0.00706424466038884, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0138523047549064, + "valid_pour_source_tilt_deg": 2.1799444871578695, + "valid_pour_source_upright_tilt_deg": 2.2000730907964337, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.429369702178807e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33547594049184737, + 0.299529604483159, + 1.0138523047549064 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32446119073435625, + 0.32304885231140756, + 1.0138523047549064 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32996856561310184, + 0.3112892283972833, + 1.0138523047549064 + ], + "valid_pour_held_grasp_object_position": [ + 0.33547594049184737, + 0.32304885231140756, + 1.0138523047549064 + ], + "valid_pour_held_grasp_finger_gap": 0.02597074759468284, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02360559907454713, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.009413542644684565, + -0.9992628773508961, + 0.03721675917224443 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005634777511402396, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033501113245099884, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33547594049184737, + 0.299529604483159, + 1.0138523047549064 + ], + "held_grasp_finger_b": [ + 0.32446119073435625, + 0.32304885231140756, + 1.0138523047549064 + ], + "held_grasp_midpoint": [ + 0.32996856561310184, + 0.3112892283972833, + 1.0138523047549064 + ], + "held_grasp_object_position": [ + 0.33547594049184737, + 0.32304885231140756, + 1.0138523047549064 + ], + "held_grasp_finger_gap": 0.02597074759468284, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02360559907454713, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.009413542644684565, + -0.9992628773508961, + 0.03721675917224443 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005634777511402396, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033501113245099884, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17421532812689025, + -0.029683173215959667, + 0.7565863582228727 + ], + "target_position": [ + 0.17690595965836822, + -0.028810993664221483, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0028284616328763793, + "xy_threshold": 0.08, + "gripper_dist": 0.21416430962350153, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863582228727, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530389894576113, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602551408140847, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.185929545879084, + "release_required_pad_clearance": 0.05301275704070424, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.057942927751113, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 287, + "max_placed_release_frames": 287 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3468111206584322, + 0.3510198337938469, + 1.1648210217280341 + ], + "current_z": 1.1648210217280341, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.30371457331791296, + "gripper_z": 1.1537727260437787, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3419098785137189, + 0.3461712778188786, + 1.1537727260437787 + ], + "object_minus_gripper": [ + 0.004901242144713325, + 0.004848555974968305, + 0.011048295684255471 + ], + "object_to_gripper_xy": 0.006894249023897739, + "object_to_gripper_z": 0.011048295684255471, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3468111206584322, + 0.3272436692563552, + 1.1648210217280341 + ], + "finger_b": [ + 0.3356082087689626, + 0.3510198337938469, + 1.1648210217280341 + ], + "finger_midpoint": [ + 0.3412096647136974, + 0.339131751525101, + 1.1648210217280341 + ], + "object_minus_finger_midpoint": [ + 0.005601455944734823, + 0.011888082268745881, + 0.0 + ], + "finger_gap": 0.026283288129857318, + "fingertip_max_gap": 0.09057711088809686, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013141644064928685, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1648210217280341, + "object_top_z": 1.2147094063677915, + "finger_top_clearance": 0.04988838463975731, + "fingertip_min_top_clearance": 0.014966515391927192, + "object_projection_between_fingers": 0.8183219547402386, + "object_to_finger_line_xy": 0.010134282859398781, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04778855544404843, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2799419124415981, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33442608090382575, + -0.3688454053369186, + 0.8515395724488776 + ], + "target_position": [ + 0.329423640296523, + -0.36874273700866655, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005003494060675768, + "xy_threshold": 0.08, + "gripper_dist": 0.18280141980775963, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395724488776, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560631393698052, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08568802703110871, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15053083084407662, + "release_required_pad_clearance": 0.05284401351555436, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7316804792739736, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00860130786895752, + "max_z_decrease": 0.00860130786895752, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502437090766569, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00860130786895752, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021086520014581625, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00860130786895752, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008601588396146987, + "max_button_displacement": 0.12, + "button_start": [ + 0.18512356281280518, + -0.4250041842460632, + 0.7768088579177856 + ], + "button_final": [ + 0.18512356281280518, + -0.4250041842460632, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18459942121461173, + -0.42648870012817996, + 0.8031961314226497 + ], + "closest_button": [ + 0.1850607693195343, + -0.4249744713306427, + 0.7682075500488281 + ], + "closest_ee_minus_button": [ + -0.00046134810492257095, + -0.0015142287975372648, + 0.03498858137382155 + ], + "button_min_z_position": [ + 0.1850607693195343, + -0.4249744713306427, + 0.7682075500488281 + ], + "min_active_finger_to_button": 0.14625534968218862, + "closest_active_finger": [ + 0.04350364953279495, + -0.4129250943660736, + 0.8110191226005554 + ], + "closest_active_finger_button": [ + 0.1851276457309723, + -0.42500969767570496, + 0.7765628695487976 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14162399619817734, + 0.012084603309631348, + 0.03445625305175781 + ], + "min_contact_pad_to_button": 0.021086520014581625, + "closest_contact_pad": [ + 0.1850607693195343, + -0.4274352864575006, + 0.7891499881885667 + ], + "closest_contact_pad_button": [ + 0.1850607693195343, + -0.4249744713306427, + 0.7682075500488281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002460815126857918, + 0.020942438139738617 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 2, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "b772a1a1c9ad4911211bd7fc3db1c19ca53e3d9f38848ee2a8f7f073d7c4e102", + "visual_seed": 208328135617408331, + "episode_index": 2, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_30_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_30_success.json new file mode 100644 index 0000000000000000000000000000000000000000..28d14b05cd7d1d737f6642647a3b74321d695a25 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_30_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 30, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20444381901626726, + -0.0353679586830771, + 0.9957003130049015 + ], + "current_z": 0.9957003130049015, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.13911368638704635, + "gripper_z": 0.9988940256972644, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1996690035081807, + -0.0400365046687404, + 0.9988940256972644 + ], + "object_minus_gripper": [ + 0.004774815508086561, + 0.004668545985663297, + -0.0031937126923629044 + ], + "object_to_gripper_xy": 0.006677887746624437, + "object_to_gripper_z": -0.0031937126923629044, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20444381901626726, + -0.05956731646638799, + 0.9957003130049015 + ], + "finger_b": [ + 0.19291852223406503, + -0.0353679586830771, + 0.9957003130049015 + ], + "finger_midpoint": [ + 0.19868117062516616, + -0.047467637574732546, + 0.9957003130049015 + ], + "object_minus_finger_midpoint": [ + 0.005762648391101105, + 0.012099678891655447, + 0.0 + ], + "finger_gap": 0.02680375688299181, + "fingertip_max_gap": 0.09188758022294946, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013401878441495898, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9957003130049015, + "object_top_z": 1.041112781558376, + "finger_top_clearance": 0.04541246855347458, + "fingertip_min_top_clearance": 0.013623740566042375, + "object_projection_between_fingers": 0.81511022464309, + "object_to_finger_line_xy": 0.01040543613378061, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04844379011147473, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6737454544913914, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33414319772381396, + 0.3524543698595472, + 0.7611063888054764 + ], + "gripper_position": [ + 0.3280381353798717, + 0.3175715983223193, + 1.016449331861687 + ], + "target_minus_gripper": [ + 0.006105062343942258, + 0.03488277153722791, + -0.2553429430562105 + ], + "held_position": [ + 0.33287824347323525, + 0.3220749709636882, + 1.013118203194779 + ], + "held_minus_target": [ + -0.0012649542505787092, + -0.030379398895859, + 0.25201181438930254 + ], + "held_minus_gripper": [ + 0.004840108093363549, + 0.004503372641368908, + -0.00333112866690799 + ], + "xy_dist": 0.035412985419784354, + "held_xy_dist": 0.030405722923978903, + "held_gripper_dist": 0.00740293385746283, + "max_held_gripper_dist": 0.00741003565680752, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.013118203194779, + "required_height": 0.7911063888054765, + "gripper_z": 1.016449331861687, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20251844819511, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.442901840718522, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1778934871380673, + "max_source_tilt_deg": 89.9661240904795, + "source_upright_tilt_deg": 2.4993996781157763, + "max_source_upright_tilt_deg": 89.78737744729993, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1778934871380673, + "source_upright_return_tilt_deg": 2.4993996781157763, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3341, + 0.3525, + 0.7611 + ], + "controller_target_position": [ + 0.3341, + 0.3525, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + 0.0016, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3351, + 0.3286, + 1.0252 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.065, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009302676928210534, + 0.0015614964202018138, + -0.0012466847619004206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4993930789617154, + "source_return_step_error_deg": 2.17792202572454, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5048020210178468, + "source_return_best_wrist_position": -1.612845540046692, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612845540046692 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3341, + 0.3525, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3341, + 0.3525, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + 0.0016, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3351, + 0.3286, + 1.0252 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.065, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009302676928210534, + 0.0015614964202018138, + -0.0012466847619004206 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4993930789617154, + "pour_controller_source_return_step_error_deg": 2.17792202572454, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5048020210178468, + "pour_controller_source_return_best_wrist_position": -1.612845540046692, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612845540046692, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035412985419784354, + "valid_pour_held_xy_dist": 0.030405722923978903, + "valid_pour_held_gripper_dist": 0.00740293385746283, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.013118203194779, + "valid_pour_source_tilt_deg": 2.1778934871380673, + "valid_pour_source_upright_tilt_deg": 2.4993996781157763, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33287824347323525, + 0.2983819639459002, + 1.013118203194779 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32162313438967277, + 0.3220749709636882, + 1.013118203194779 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32725068893145404, + 0.3102284674547942, + 1.013118203194779 + ], + "valid_pour_held_grasp_object_position": [ + 0.33287824347323525, + 0.3220749709636882, + 1.013118203194779 + ], + "valid_pour_held_grasp_finger_gap": 0.026230441514161384, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02392000028328938, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022170615354618388, + -0.9990486885540694, + 0.037552386251630265 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005905418500905992, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03348975751843202, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33287824347323525, + 0.2983819639459002, + 1.013118203194779 + ], + "held_grasp_finger_b": [ + 0.32162313438967277, + 0.3220749709636882, + 1.013118203194779 + ], + "held_grasp_midpoint": [ + 0.32725068893145404, + 0.3102284674547942, + 1.013118203194779 + ], + "held_grasp_object_position": [ + 0.33287824347323525, + 0.3220749709636882, + 1.013118203194779 + ], + "held_grasp_finger_gap": 0.026230441514161384, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02392000028328938, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022170615354618388, + -0.9990486885540694, + 0.037552386251630265 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005905418500905992, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03348975751843202, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17857782784018741, + -0.028875887017461476, + 0.7565870853252823 + ], + "target_position": [ + 0.1814055527526432, + -0.0367147630425612, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008333306997669434, + "xy_threshold": 0.08, + "gripper_dist": 0.21468536539003732, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870853252823, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574490358364547, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09125492170000078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18755441047092664, + "release_required_pad_clearance": 0.05562746085000039, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.41800573673005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 290, + "max_placed_release_frames": 290 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3433255891168388, + 0.35098426942380573, + 1.165195486576264 + ], + "current_z": 1.165195486576264, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3040890977707875, + "gripper_z": 1.1540602932016988, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.338465378923495, + 0.3460214490632836, + 1.1540602932016988 + ], + "object_minus_gripper": [ + 0.004860210193343817, + 0.004962820360522147, + 0.011135193374565144 + ], + "object_to_gripper_xy": 0.006946310463425624, + "object_to_gripper_z": 0.011135193374565144, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3433255891168388, + 0.3270509257200796, + 1.165195486576264 + ], + "finger_b": [ + 0.3321758264773488, + 0.35098426942380573, + 1.165195486576264 + ], + "finger_midpoint": [ + 0.3377507077970938, + 0.33901759757194266, + 1.165195486576264 + ], + "object_minus_finger_midpoint": [ + 0.005574881319744984, + 0.011966671851863064, + 0.0 + ], + "finger_gap": 0.02640307080166348, + "fingertip_max_gap": 0.08998940606613157, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320153540083173, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165195486576264, + "object_top_z": 1.2151951966499666, + "finger_top_clearance": 0.04999971007370263, + "fingertip_min_top_clearance": 0.014999913022110754, + "object_projection_between_fingers": 0.8216708401578646, + "object_to_finger_line_xy": 0.01010682066000698, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047494703033065785, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.46629133986060645, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33580475728680825, + -0.3660177356890297, + 0.8515395956118406 + ], + "target_position": [ + 0.32951284802768926, + -0.3672569268957537, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006412777633117286, + "xy_threshold": 0.08, + "gripper_dist": 0.18481630347590247, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395956118406, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567953013245922, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08582344380302646, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15246081600196912, + "release_required_pad_clearance": 0.052911721901513234, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.862294281208348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008312404155731201, + "max_z_decrease": 0.008312404155731201, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499035981192882, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008312404155731201, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021232762397739257, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008312404155731201, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008313560879994386, + "max_button_displacement": 0.12, + "button_start": [ + 0.18521277606487274, + -0.4235183894634247, + 0.7768088579177856 + ], + "button_final": [ + 0.18521277606487274, + -0.4235183894634247, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1843373695492969, + -0.42230342215451855, + 0.803824781887199 + ], + "closest_button": [ + 0.185089498758316, + -0.42344793677330017, + 0.7688612341880798 + ], + "closest_ee_minus_button": [ + -0.0007521292090191256, + 0.0011445146187816224, + 0.034963547699119135 + ], + "button_min_z_position": [ + 0.18508727848529813, + -0.42345938086509705, + 0.7684964537620544 + ], + "min_active_finger_to_button": 0.14631262045799642, + "closest_active_finger": [ + 0.05668369680643082, + -0.484056681394577, + 0.8080479502677917 + ], + "closest_active_finger_button": [ + 0.1852380782365799, + -0.42352655529975886, + 0.7731587290763855 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12855438143014908, + -0.06053012609481817, + 0.03488922119140625 + ], + "min_contact_pad_to_button": 0.021232762397739257, + "closest_contact_pad": [ + 0.18508727848529813, + -0.4236076518808266, + 0.7897286984560274 + ], + "closest_contact_pad_button": [ + 0.18508727848529813, + -0.42345938086509705, + 0.7684964537620544 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00014827101572956192, + 0.021232244693973 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 30, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e4bdc8f0224ba3a3dadae9e4676c67de06166699bd024f9121e0bda17120da98", + "visual_seed": 4299257543001933691, + "episode_index": 30, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_31_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_31_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5f5fb778c36dcbad5143ce1dd109c0c83c3ba199 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_31_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 31, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2053958761312514, + -0.03425441397593065, + 0.9971074533360447 + ], + "current_z": 0.9971074533360447, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1405209459274791, + "gripper_z": 1.000575003147894, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2007280417693598, + -0.03884719689228247, + 1.000575003147894 + ], + "object_minus_gripper": [ + 0.00466783436189161, + 0.0045927829163518175, + -0.0034675498118492687 + ], + "object_to_gripper_xy": 0.006548460318791674, + "object_to_gripper_z": -0.0034675498118492687, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2053958761312514, + -0.05839571772074148, + 0.9971074533360447 + ], + "finger_b": [ + 0.19405476337523397, + -0.03425441397593065, + 0.9971074533360447 + ], + "finger_midpoint": [ + 0.1997253197532427, + -0.04632506584833607, + 0.9971074533360447 + ], + "object_minus_finger_midpoint": [ + 0.005670556378008701, + 0.012070651872405413, + 0.0 + ], + "finger_gap": 0.026672521160248774, + "fingertip_max_gap": 0.0919710906606343, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01333626058012438, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971074533360447, + "object_top_z": 1.042542754053273, + "finger_top_clearance": 0.045435300717228344, + "fingertip_min_top_clearance": 0.013630590215168487, + "object_projection_between_fingers": 0.8192063386604012, + "object_to_finger_line_xy": 0.010264843214566673, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048485545330317154, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6350077760572819, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33751810211796374, + 0.3580382521913953, + 0.7611063888054764 + ], + "gripper_position": [ + 0.3306123160177664, + 0.3218269499949243, + 1.01640789719776 + ], + "target_minus_gripper": [ + 0.00690578610019732, + 0.03621130219647101, + -0.2553015083922835 + ], + "held_position": [ + 0.3353538766558848, + 0.3262221459860598, + 1.0127854077104301 + ], + "held_minus_target": [ + -0.0021642254620789503, + -0.03181610620533548, + 0.2516790189049537 + ], + "held_minus_gripper": [ + 0.0047415606381183695, + 0.004395195991135525, + -0.003622489487329794 + ], + "xy_dist": 0.036863915804290576, + "held_xy_dist": 0.0318896297551398, + "held_gripper_dist": 0.007410976667839546, + "max_held_gripper_dist": 0.007416215438204432, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0127854077104301, + "required_height": 0.7911063888054765, + "gripper_z": 1.01640789719776, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2006947876867, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4995209873577804, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2215597592028016, + "max_source_tilt_deg": 89.83015527129764, + "source_upright_tilt_deg": 2.5017071864567044, + "max_source_upright_tilt_deg": 89.63101459480308, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2215597592028016, + "source_upright_return_tilt_deg": 2.5017071864567044, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3375, + 0.358, + 0.7611 + ], + "controller_target_position": [ + 0.3375, + 0.358, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0006, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3375, + 0.332, + 1.0265 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.065, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.4789140709360717e-05, + -0.0005637357029442294, + -9.516809794067344e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5017040657892977, + "source_return_step_error_deg": 2.2215631343164635, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.505968897799148, + "source_return_best_wrist_position": -1.6127833127975464, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127833127975464 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3375, + 0.358, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3375, + 0.358, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0006, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3375, + 0.332, + 1.0265 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.065, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -2.4789140709360717e-05, + -0.0005637357029442294, + -9.516809794067344e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5017040657892977, + "pour_controller_source_return_step_error_deg": 2.2215631343164635, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.505968897799148, + "pour_controller_source_return_best_wrist_position": -1.6127833127975464, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127833127975464, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036863915804290576, + "valid_pour_held_xy_dist": 0.0318896297551398, + "valid_pour_held_gripper_dist": 0.007410976667839546, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0127854077104301, + "valid_pour_source_tilt_deg": 2.2215597592028016, + "valid_pour_source_upright_tilt_deg": 2.5017071864567044, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3353538766558848, + 0.3025354416322157, + 1.0127854077104301 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32432759147450213, + 0.3262221459860598, + 1.0127854077104301 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32984073406519343, + 0.31437879380913775, + 1.0127854077104301 + ], + "valid_pour_held_grasp_object_position": [ + 0.3353538766558848, + 0.3262221459860598, + 1.0127854077104301 + ], + "valid_pour_held_grasp_finger_gap": 0.026127359760366085, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023865417585569995, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018255311562491272, + -0.9990469320130013, + 0.03964809245305611 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005747478104478398, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033468804444388794, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3353538766558848, + 0.3025354416322157, + 1.0127854077104301 + ], + "held_grasp_finger_b": [ + 0.32432759147450213, + 0.3262221459860598, + 1.0127854077104301 + ], + "held_grasp_midpoint": [ + 0.32984073406519343, + 0.31437879380913775, + 1.0127854077104301 + ], + "held_grasp_object_position": [ + 0.3353538766558848, + 0.3262221459860598, + 1.0127854077104301 + ], + "held_grasp_finger_gap": 0.026127359760366085, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023865417585569995, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018255311562491272, + -0.9990469320130013, + 0.03964809245305611 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005747478104478398, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033468804444388794, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18967602212592297, + -0.03738464025242902, + 0.7565874719814654 + ], + "target_position": [ + 0.18373612941452797, + -0.037478903375954636, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005940640618598322, + "xy_threshold": 0.08, + "gripper_dist": 0.21946330649596407, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565874719814654, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07580197942206093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08591723159230692, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18981575629693945, + "release_required_pad_clearance": 0.05295861579615346, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9512013805481669, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.346393346624817, + 0.35442804081307533, + 1.1632958322321918 + ], + "current_z": 1.1632958322321918, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3021893838220706, + "gripper_z": 1.152142406447559, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3416069955156135, + 0.3497592489810648, + 1.152142406447559 + ], + "object_minus_gripper": [ + 0.004786351109203502, + 0.0046687918320105215, + 0.011153425784632853 + ], + "object_to_gripper_xy": 0.006686312444929698, + "object_to_gripper_z": 0.011153425784632853, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.346393346624817, + 0.33054972061790794, + 1.1632958322321918 + ], + "finger_b": [ + 0.33568248073958973, + 0.35442804081307533, + 1.1632958322321918 + ], + "finger_midpoint": [ + 0.3410379136822034, + 0.34248888071549166, + 1.1632958322321918 + ], + "object_minus_finger_midpoint": [ + 0.005355432942613647, + 0.011939160097583668, + 0.0 + ], + "finger_gap": 0.026170533493879423, + "fingertip_max_gap": 0.0903789349108827, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013085266746939687, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632958322321918, + "object_top_z": 1.2132097794698904, + "finger_top_clearance": 0.0499139472376986, + "fingertip_min_top_clearance": 0.014974184171309544, + "object_projection_between_fingers": 0.83249645187508, + "object_to_finger_line_xy": 0.009772727225250005, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768946745544135, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3358497758038725, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33123499557180025, + -0.36530477232964076, + 0.8515395715582175 + ], + "target_position": [ + 0.3261807138423544, + -0.3657946557355207, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005077967068814694, + "xy_threshold": 0.08, + "gripper_dist": 0.18239292648229632, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395715582175, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758226767818284, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08503372645258205, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1495762965430001, + "release_required_pad_clearance": 0.052516863226291025, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.10467831225287644, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00861978530883789, + "max_z_decrease": 0.00861978530883789, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03505567042205283, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00861978530883789, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021284261364093855, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00861978530883789, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008619909383223618, + "max_button_displacement": 0.12, + "button_start": [ + 0.18188063800334925, + -0.42205610871315, + 0.7768088579177856 + ], + "button_final": [ + 0.18188063800334925, + -0.42205610871315, + 0.7768089175224304 + ], + "closest_ee": [ + 0.17977136085562861, + -0.4231654901183371, + 0.8054353538803585 + ], + "closest_button": [ + 0.1818148493766784, + -0.4220384657382965, + 0.7704574465751648 + ], + "closest_ee_minus_button": [ + -0.0020434885210497966, + -0.0011270243800405866, + 0.03497790730519368 + ], + "button_min_z_position": [ + 0.18184988200664515, + -0.4220215678215027, + 0.7681890726089478 + ], + "min_active_finger_to_button": 0.14802266963474983, + "closest_active_finger": [ + 0.03905516862869263, + -0.4048996567726135, + 0.807567834854126 + ], + "closest_active_finger_button": [ + 0.1818969845771789, + -0.42206382751464844, + 0.7727494835853577 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14284181594848627, + 0.017164170742034912, + 0.03481835126876831 + ], + "min_contact_pad_to_button": 0.021284261364093855, + "closest_contact_pad": [ + 0.18184988200664515, + -0.4244883783459687, + 0.7893299010612919 + ], + "closest_contact_pad_button": [ + 0.18184988200664515, + -0.4220215678215027, + 0.7681890726089478 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002466810524466012, + 0.021140828452344107 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 31, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c9bb4ce3d7458f3533eeb78fe613caaa4933899095bf6047d8b962b5496f3999", + "visual_seed": 4741635933133742887, + "episode_index": 31, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_32_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_32_success.json new file mode 100644 index 0000000000000000000000000000000000000000..806879f95d2ff3ae66fe3549aeccde41b23ccc0b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_32_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 32, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20097867011696818, + -0.027739184578690942, + 0.9976490586209534 + ], + "current_z": 0.9976490586209534, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14106255121238787, + "gripper_z": 1.0005399546303329, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19629703255783873, + -0.03229175611270965, + 1.0005399546303329 + ], + "object_minus_gripper": [ + 0.0046816375591294535, + 0.0045525715340187095, + -0.002890896009379418 + ], + "object_to_gripper_xy": 0.006530209629668029, + "object_to_gripper_z": -0.002890896009379418, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20097867011696818, + -0.05196359292686652, + 0.9976490586209534 + ], + "finger_b": [ + 0.18983366912915103, + -0.027739184578690942, + 0.9976490586209534 + ], + "finger_midpoint": [ + 0.19540616962305962, + -0.03985138875277873, + 0.9976490586209534 + ], + "object_minus_finger_midpoint": [ + 0.005572500493908561, + 0.012112204174087787, + 0.0 + ], + "finger_gap": 0.026665202171324405, + "fingertip_max_gap": 0.09206889232950016, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013332601085662196, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9976490586209534, + "object_top_z": 1.0432621794796844, + "finger_top_clearance": 0.04561312085873093, + "fingertip_min_top_clearance": 0.013683936257619262, + "object_projection_between_fingers": 0.8253090280985866, + "object_to_finger_line_xy": 0.01012484560345988, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048534446164750084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4765857825231534, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3438343169178446, + 0.3564273472593732, + 0.7611063888054765 + ], + "gripper_position": [ + 0.3356772633591379, + 0.31990824802962525, + 1.0159002604232854 + ], + "target_minus_gripper": [ + 0.008157053558706717, + 0.03651909922974794, + -0.25479387161780886 + ], + "held_position": [ + 0.34035850213747787, + 0.3243520234363073, + 1.0128431356806196 + ], + "held_minus_target": [ + -0.003475814780366737, + -0.03207532382306588, + 0.251736746875143 + ], + "held_minus_gripper": [ + 0.00468123877833998, + 0.00444377540668206, + -0.00305712474266584 + ], + "xy_dist": 0.03741900762061691, + "held_xy_dist": 0.0322631010093877, + "held_gripper_dist": 0.007141928875106919, + "max_held_gripper_dist": 0.0071476595885519925, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0128431356806196, + "required_height": 0.7911063888054766, + "gripper_z": 1.0159002604232854, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2010636179019, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6906526067788439, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1721140741019007, + "max_source_tilt_deg": 89.85413785891747, + "source_upright_tilt_deg": 2.7528934161409624, + "max_source_upright_tilt_deg": 89.71316099736337, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1721140741019007, + "source_upright_return_tilt_deg": 2.7528934161409624, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.812804499357408e-07, + "max_target_xy_drift": 1.999200562387517e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3438, + 0.3564, + 0.7611 + ], + "controller_target_position": [ + 0.3438, + 0.3564, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0011, + -0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3435, + 0.33, + 1.0253 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003729687236822144, + -0.0010755802591301364, + -0.001209795826803737 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.7528959695583493, + "source_return_step_error_deg": 2.172106046824259, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.75786961999481, + "source_return_best_wrist_position": -1.6127623319625854, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127623319625854 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3438, + 0.3564, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3438, + 0.3564, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0011, + -0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3435, + 0.33, + 1.0253 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003729687236822144, + -0.0010755802591301364, + -0.001209795826803737 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.7528959695583493, + "pour_controller_source_return_step_error_deg": 2.172106046824259, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.75786961999481, + "pour_controller_source_return_best_wrist_position": -1.6127623319625854, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127623319625854, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03741900762061691, + "valid_pour_held_xy_dist": 0.0322631010093877, + "valid_pour_held_gripper_dist": 0.007141928875106919, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0128431356806196, + "valid_pour_source_tilt_deg": 2.1721140741019007, + "valid_pour_source_upright_tilt_deg": 2.7528934161409624, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.812804499357408e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34035850213747787, + 0.3007727994660901, + 1.0128431356806196 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3291850860268933, + 0.3243520234363073, + 1.0128431356806196 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3347717940821856, + 0.3125624114511987, + 1.0128431356806196 + ], + "valid_pour_held_grasp_object_position": [ + 0.34035850213747787, + 0.3243520234363073, + 1.0128431356806196 + ], + "valid_pour_held_grasp_finger_gap": 0.026092624065393224, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023879946411954157, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.029349440884895776, + -0.9988459724578985, + 0.03801754363947474 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005946998560959559, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03358818527545364, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34035850213747787, + 0.3007727994660901, + 1.0128431356806196 + ], + "held_grasp_finger_b": [ + 0.3291850860268933, + 0.3243520234363073, + 1.0128431356806196 + ], + "held_grasp_midpoint": [ + 0.3347717940821856, + 0.3125624114511987, + 1.0128431356806196 + ], + "held_grasp_object_position": [ + 0.34035850213747787, + 0.3243520234363073, + 1.0128431356806196 + ], + "held_grasp_finger_gap": 0.026092624065393224, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023879946411954157, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.029349440884895776, + -0.9988459724578985, + 0.03801754363947474 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005946998560959559, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03358818527545364, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18741351796540828, + -0.027583224839771263, + 0.7565866062190403 + ], + "target_position": [ + 0.1804216333086588, + -0.028947828235309427, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007123804705380633, + "xy_threshold": 0.08, + "gripper_dist": 0.2212565672926848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866062190403, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529770163891983, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08600212674204664, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19255443923581847, + "release_required_pad_clearance": 0.053001063371023324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0347541305729422, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3525628027673297, + 0.35222847494989445, + 1.1646004238840177 + ], + "current_z": 1.1646004238840177, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3034940350785412, + "gripper_z": 1.1533955735409291, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3480543949005265, + 0.34765528515152466, + 1.1533955735409291 + ], + "object_minus_gripper": [ + 0.004508407866803232, + 0.004573189798369792, + 0.011204850343088602 + ], + "object_to_gripper_xy": 0.006421822671591517, + "object_to_gripper_z": 0.011204850343088602, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3525628027673297, + 0.3285792328682705, + 1.1646004238840177 + ], + "finger_b": [ + 0.341940348947653, + 0.35222847494989445, + 1.1646004238840177 + ], + "finger_midpoint": [ + 0.34725157585749133, + 0.34040385390908245, + 1.1646004238840177 + ], + "object_minus_finger_midpoint": [ + 0.0053112269098383735, + 0.011824621040812, + 0.0 + ], + "finger_gap": 0.02592533849704603, + "fingertip_max_gap": 0.09073366737034169, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01296266924852305, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1646004238840177, + "object_top_z": 1.2145376050112433, + "finger_top_clearance": 0.04993718112722556, + "fingertip_min_top_clearance": 0.0149811543381677, + "object_projection_between_fingers": 0.8321192764228261, + "object_to_finger_line_xy": 0.009689863139531586, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04786683368517085, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5562588700239821, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3321841864880699, + -0.36464655618877223, + 0.8515395887180877 + ], + "target_position": [ + 0.3270492382645748, + -0.3652882814921076, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005174891749874216, + "xy_threshold": 0.08, + "gripper_dist": 0.1830088559528649, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395887180877, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553100326268976, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521435485617233, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15101054086304314, + "release_required_pad_clearance": 0.05260717742808617, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2769528352132505, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008558094501495361, + "max_z_decrease": 0.008558094501495361, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500321274051075, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008558094501495361, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021168740194697944, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008558094501495361, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008559087919236019, + "max_button_displacement": 0.12, + "button_start": [ + 0.18274916708469385, + -0.42154973745346064, + 0.7768088579177856 + ], + "button_final": [ + 0.18274916708469385, + -0.42154973745346064, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18207756509823486, + -0.42026882991202624, + 0.8040312134910055 + ], + "closest_button": [ + 0.18265411257743835, + -0.4215218722820282, + 0.769055187702179 + ], + "closest_ee_minus_button": [ + -0.000576547479203493, + 0.0012530423700019555, + 0.034976025788826526 + ], + "button_min_z_position": [ + 0.18263262510299677, + -0.4214912354946136, + 0.7682507634162903 + ], + "min_active_finger_to_button": 0.14610638282831115, + "closest_active_finger": [ + 0.05439521372318268, + -0.4820447564125061, + 0.8075024485588074 + ], + "closest_active_finger_button": [ + 0.1827691942453384, + -0.42155662178993225, + 0.7727406620979309 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12837398052215573, + -0.06048813462257385, + 0.034761786460876465 + ], + "min_contact_pad_to_button": 0.021168740194697944, + "closest_contact_pad": [ + 0.18263262510299677, + -0.4214912354946136, + 0.7894195036109882 + ], + "closest_contact_pad_button": [ + 0.18263262510299677, + -0.4214912354946136, + 0.7682507634162903 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021168740194697944 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 32, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "734aa21238b99b2f94d9538643ad65f9862b1b661173c3db92028ce03991a265", + "visual_seed": 659569845351296830, + "episode_index": 32, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_33_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_33_success.json new file mode 100644 index 0000000000000000000000000000000000000000..962dd786266b1830156a028c57a3f60d2542da4a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_33_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 33, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20454231546031218, + -0.031208064319333925, + 0.9961961766150957 + ], + "current_z": 0.9961961766150957, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13960966920653017, + "gripper_z": 0.9997801193624692, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1998358091864973, + -0.035846765823709034, + 0.9997801193624692 + ], + "object_minus_gripper": [ + 0.004706506273814887, + 0.00463870150437511, + -0.003583942747373503 + ], + "object_to_gripper_xy": 0.006608233724086247, + "object_to_gripper_z": -0.003583942747373503, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20454231546031218, + -0.055328677124510145, + 0.9961961766150957 + ], + "finger_b": [ + 0.19307029336538528, + -0.031208064319333925, + 0.9961961766150957 + ], + "finger_midpoint": [ + 0.19880630441284874, + -0.043268370721922036, + 0.9961961766150957 + ], + "object_minus_finger_midpoint": [ + 0.005736011047463435, + 0.012060306402588112, + 0.0 + ], + "finger_gap": 0.026709759509282782, + "fingertip_max_gap": 0.09211375650474277, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013354879754641388, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9961961766150957, + "object_top_z": 1.041621462083828, + "finger_top_clearance": 0.04542528546873226, + "fingertip_min_top_clearance": 0.01362758564061966, + "object_projection_between_fingers": 0.8155239486551451, + "object_to_finger_line_xy": 0.010359966099582032, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048556878252371385, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7843167383923118, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33967048544544776, + 0.3529593404100843, + 0.7611063292008315 + ], + "gripper_position": [ + 0.3334094823455783, + 0.31732458291814114, + 1.0171897850312206 + ], + "target_minus_gripper": [ + 0.006261003099869433, + 0.03563475749194317, + -0.25608345583038905 + ], + "held_position": [ + 0.3382492057669676, + 0.32169971665960007, + 1.0134531149606674 + ], + "held_minus_target": [ + -0.0014212796784801585, + -0.031259623750484244, + 0.2523467857598358 + ], + "held_minus_gripper": [ + 0.004839723421389275, + 0.004375133741458925, + -0.0037366700705532274 + ], + "xy_dist": 0.036180603938107146, + "held_xy_dist": 0.03129191769365213, + "held_gripper_dist": 0.007518472003496758, + "max_held_gripper_dist": 0.007523808268826342, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.0134531149606674, + "required_height": 0.7911063292008316, + "gripper_z": 1.0171897850312206, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20135048584703, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4645352606399984, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.391546681515608, + "max_source_tilt_deg": 89.57653368153264, + "source_upright_tilt_deg": 2.326377258146451, + "max_source_upright_tilt_deg": 89.9081012351007, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.391546681515608, + "source_upright_return_tilt_deg": 2.326377258146451, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.398829982752767e-07, + "max_target_xy_drift": 9.243525516552224e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3397, + 0.353, + 0.7611 + ], + "controller_target_position": [ + 0.3397, + 0.353, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0001, + 0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3408, + 0.3274, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.0644, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001082315808770465, + -7.164498697811083e-05, + 0.000505927922221682 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.32634979840177, + "source_return_step_error_deg": 2.3915253158917182, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3915097238551364, + "source_return_best_wrist_position": -1.612809419631958, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612809419631958 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3397, + 0.353, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3397, + 0.353, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0001, + 0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3408, + 0.3274, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.0644, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001082315808770465, + -7.164498697811083e-05, + 0.000505927922221682 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.32634979840177, + "pour_controller_source_return_step_error_deg": 2.3915253158917182, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3915097238551364, + "pour_controller_source_return_best_wrist_position": -1.612809419631958, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612809419631958, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036180603938107146, + "valid_pour_held_xy_dist": 0.03129191769365213, + "valid_pour_held_gripper_dist": 0.007518472003496758, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.0134531149606674, + "valid_pour_source_tilt_deg": 2.391546681515608, + "valid_pour_source_upright_tilt_deg": 2.326377258146451, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.398829982752767e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3382492057669676, + 0.2978402644823956, + 1.0134531149606674 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3273895083930279, + 0.32169971665960007, + 1.0134531149606674 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33281935707999777, + 0.30976999057099786, + 1.0134531149606674 + ], + "valid_pour_held_grasp_object_position": [ + 0.3382492057669676, + 0.32169971665960007, + 1.0134531149606674 + ], + "valid_pour_held_grasp_finger_gap": 0.026214623500059285, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02392852648132762, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008171377219566312, + -0.9991758243456889, + 0.03976054121172034 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005547390180093122, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03332470040887976, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3382492057669676, + 0.2978402644823956, + 1.0134531149606674 + ], + "held_grasp_finger_b": [ + 0.3273895083930279, + 0.32169971665960007, + 1.0134531149606674 + ], + "held_grasp_midpoint": [ + 0.33281935707999777, + 0.30976999057099786, + 1.0134531149606674 + ], + "held_grasp_object_position": [ + 0.3382492057669676, + 0.32169971665960007, + 1.0134531149606674 + ], + "held_grasp_finger_gap": 0.026214623500059285, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02392852648132762, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008171377219566312, + -0.9991758243456889, + 0.03976054121172034 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005547390180093122, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03332470040887976, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.186122961651048, + -0.034849010927742605, + 0.756588211593767 + ], + "target_position": [ + 0.18279029623340995, + -0.0349528436508418, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0033342825345652363, + "xy_threshold": 0.08, + "gripper_dist": 0.21786201933872865, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756588211593767, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587131910531611, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08954588344656154, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18834184432557746, + "release_required_pad_clearance": 0.054772941723280774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.594241975714986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 291, + "max_placed_release_frames": 291 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3487525699621974, + 0.3492224181737172, + 1.163817683095833 + ], + "current_z": 1.163817683095833, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.3027113538950016, + "gripper_z": 1.1528595751462465, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3439717407211421, + 0.34437001651064686, + 1.1528595751462465 + ], + "object_minus_gripper": [ + 0.004780829241055273, + 0.004852401663070327, + 0.010958107949586626 + ], + "object_to_gripper_xy": 0.006811910901641097, + "object_to_gripper_z": 0.010958107949586626, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3487525699621974, + 0.3254972682152195, + 1.163817683095833 + ], + "finger_b": [ + 0.3375788353098023, + 0.3492224181737172, + 1.163817683095833 + ], + "finger_midpoint": [ + 0.3431657026359999, + 0.3373598431944683, + 1.163817683095833 + ], + "object_minus_finger_midpoint": [ + 0.005586867326197509, + 0.011862574979248863, + 0.0 + ], + "finger_gap": 0.026224703747332143, + "fingertip_max_gap": 0.09050215042448359, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013112351873666083, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163817683095833, + "object_top_z": 1.2137019936194329, + "finger_top_clearance": 0.04988431052359976, + "fingertip_min_top_clearance": 0.014965293157079961, + "object_projection_between_fingers": 0.8184586645230506, + "object_to_finger_line_xy": 0.010108733077737958, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477510752122418, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3451175433666051, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3285226946381277, + -0.3652750709640566, + 0.8515395192781875 + ], + "target_position": [ + 0.3220529505147981, + -0.3660749203860999, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006518999012064752, + "xy_threshold": 0.08, + "gripper_dist": 0.18383509831997288, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395192781875, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07581571699364702, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08843384820739368, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15119427125881973, + "release_required_pad_clearance": 0.05421692410369684, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.4511142976843514, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008565425872802734, + "max_z_decrease": 0.008565425872802734, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501116454442524, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008565425872802734, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02103268262577107, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008565425872802734, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008566123834433415, + "max_button_displacement": 0.12, + "button_start": [ + 0.17775288224220276, + -0.4223363697528839, + 0.7768088579177856 + ], + "button_final": [ + 0.17775288224220276, + -0.4223363697528839, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17796707167501238, + -0.42108280542616294, + 0.8046845406649892 + ], + "closest_button": [ + 0.17766273021697998, + -0.4223424792289734, + 0.769697368144989 + ], + "closest_ee_minus_button": [ + 0.0003043414580324033, + 0.001259673802810446, + 0.034987172520000165 + ], + "button_min_z_position": [ + 0.1776469498872757, + -0.4223092496395111, + 0.7682434320449829 + ], + "min_active_finger_to_button": 0.1452895841345705, + "closest_active_finger": [ + 0.05042023956775665, + -0.48317304253578186, + 0.810771107673645 + ], + "closest_active_finger_button": [ + 0.1777600646018982, + -0.42234271764755255, + 0.7762268781661987 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12733982503414154, + -0.060830324888229315, + 0.03454422950744629 + ], + "min_contact_pad_to_button": 0.02103268262577107, + "closest_contact_pad": [ + 0.1776469498872757, + -0.4223092496395111, + 0.789276114670754 + ], + "closest_contact_pad_button": [ + 0.1776469498872757, + -0.4223092496395111, + 0.7682434320449829 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02103268262577107 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 33, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d190aee014f43886ddffce0d66d833e8c3fd7c724581cf5bc551982215d4ffda", + "visual_seed": 8224156959653503159, + "episode_index": 33, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_34_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_34_success.json new file mode 100644 index 0000000000000000000000000000000000000000..560aac52fc29fb58b351aef731e91d4e82a9164a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_34_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 34, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20281200972684715, + -0.02855449114761149, + 0.9948220789575234 + ], + "current_z": 0.9948220789575234, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.1382356311536025, + "gripper_z": 0.9978805290484877, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19827688238662455, + -0.033107505601085, + 0.9978805290484877 + ], + "object_minus_gripper": [ + 0.0045351273402226, + 0.004553014453473506, + -0.003058450090964282 + ], + "object_to_gripper_xy": 0.006426299137573131, + "object_to_gripper_z": -0.003058450090964282, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20281200972684715, + -0.052559422771106645, + 0.9948220789575234 + ], + "finger_b": [ + 0.19146824382250682, + -0.02855449114761149, + 0.9948220789575234 + ], + "finger_midpoint": [ + 0.197140126774677, + -0.04055695695935907, + 0.9948220789575234 + ], + "object_minus_finger_midpoint": [ + 0.005671882952170165, + 0.01200246581174758, + 0.0 + ], + "finger_gap": 0.026550287515225743, + "fingertip_max_gap": 0.0918799359496098, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013275143757612873, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9948220789575234, + "object_top_z": 1.0403332203753357, + "finger_top_clearance": 0.04551114141781232, + "fingertip_min_top_clearance": 0.013653342425343695, + "object_projection_between_fingers": 0.8174524307787702, + "object_to_finger_line_xy": 0.010256247685847703, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048439967974804904, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5096968920413618, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.338684863039442, + 0.34862587411865664, + 0.7611063888054762 + ], + "gripper_position": [ + 0.3316364299404922, + 0.3145909406476541, + 1.017751050426972 + ], + "target_minus_gripper": [ + 0.007048433098949813, + 0.03403493347100256, + -0.2566446616214958 + ], + "held_position": [ + 0.3362662885313483, + 0.3189441052471952, + 1.014545398297193 + ], + "held_minus_target": [ + -0.002418574508093685, + -0.029681768871461456, + 0.2534390094917168 + ], + "held_minus_gripper": [ + 0.0046298585908561285, + 0.004353164599541104, + -0.0032056521297789686 + ], + "xy_dist": 0.034757115897697, + "held_xy_dist": 0.029780142813459757, + "held_gripper_dist": 0.007117712987974339, + "max_held_gripper_dist": 0.007123199605903805, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054762, + "held_z": 1.014545398297193, + "required_height": 0.7911063888054762, + "gripper_z": 1.017751050426972, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20260724065432, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0868382782421284, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2141791546253544, + "max_source_tilt_deg": 89.91426636642178, + "source_upright_tilt_deg": 2.2285542695348823, + "max_source_upright_tilt_deg": 89.83531827202053, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2141791546253544, + "source_upright_return_tilt_deg": 2.2285542695348823, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3387, + 0.3486, + 0.7611 + ], + "controller_target_position": [ + 0.3387, + 0.3486, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0012, + 0.002, + 0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3375, + 0.3252, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0643, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011654880957076529, + 0.001966577826784435, + 0.0016212021912631104 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2285794171468942, + "source_return_step_error_deg": 2.2142036261058764, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2308025023489297, + "source_return_best_wrist_position": -1.612826943397522, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612826943397522 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3387, + 0.3486, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3387, + 0.3486, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0012, + 0.002, + 0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3375, + 0.3252, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0643, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0011654880957076529, + 0.001966577826784435, + 0.0016212021912631104 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2285794171468942, + "pour_controller_source_return_step_error_deg": 2.2142036261058764, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2308025023489297, + "pour_controller_source_return_best_wrist_position": -1.612826943397522, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612826943397522, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.034757115897697, + "valid_pour_held_xy_dist": 0.029780142813459757, + "valid_pour_held_gripper_dist": 0.007117712987974339, + "valid_pour_required_height": 0.7911063888054762, + "valid_pour_held_z": 1.014545398297193, + "valid_pour_source_tilt_deg": 2.2141791546253544, + "valid_pour_source_upright_tilt_deg": 2.2285542695348823, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3362662885313483, + 0.2952938095271565, + 1.014545398297193 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32536763009839764, + 0.3189441052471952, + 1.014545398297193 + ], + "valid_pour_held_grasp_midpoint": [ + 0.330816959314873, + 0.3071189573871759, + 1.014545398297193 + ], + "valid_pour_held_grasp_object_position": [ + 0.3362662885313483, + 0.3189441052471952, + 1.014545398297193 + ], + "valid_pour_held_grasp_finger_gap": 0.02604068438584914, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02375007460640554, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01079640118342878, + -0.9992436710877454, + 0.0373567063935315 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005594062714218607, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0334428539514113, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3362662885313483, + 0.2952938095271565, + 1.014545398297193 + ], + "held_grasp_finger_b": [ + 0.32536763009839764, + 0.3189441052471952, + 1.014545398297193 + ], + "held_grasp_midpoint": [ + 0.330816959314873, + 0.3071189573871759, + 1.014545398297193 + ], + "held_grasp_object_position": [ + 0.3362662885313483, + 0.3189441052471952, + 1.014545398297193 + ], + "held_grasp_finger_gap": 0.02604068438584914, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02375007460640554, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01079640118342878, + -0.9992436710877454, + 0.0373567063935315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005594062714218607, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0334428539514113, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18058859213264, + -0.028060008153316173, + 0.7565861590739673 + ], + "target_position": [ + 0.18112783795420218, + -0.028990226646986354, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0010752174208216142, + "xy_threshold": 0.08, + "gripper_dist": 0.21419581934929813, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861590739673, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560098561919407, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08742035136761835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1855499275531389, + "release_required_pad_clearance": 0.053710175683809175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4290075669232993, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 291, + "max_placed_release_frames": 291 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3477140690175746, + 0.34546138423017, + 1.1651675434639834 + ], + "current_z": 1.1651675434639834, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.304061214263152, + "gripper_z": 1.1540567828828885, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3427848929260242, + 0.34072738724753354, + 1.1540567828828885 + ], + "object_minus_gripper": [ + 0.0049291760915504135, + 0.004733996982636435, + 0.011110760581094947 + ], + "object_to_gripper_xy": 0.006834288871062086, + "object_to_gripper_z": 0.011110760581094947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3477140690175746, + 0.32149386557060733, + 1.1651675434639834 + ], + "finger_b": [ + 0.3368888804770067, + 0.34546138423017, + 1.1651675434639834 + ], + "finger_midpoint": [ + 0.34230147474729067, + 0.3334776249003887, + 1.1651675434639834 + ], + "object_minus_finger_midpoint": [ + 0.005412594270283955, + 0.011983759329781296, + 0.0 + ], + "finger_gap": 0.02629879574496381, + "fingertip_max_gap": 0.09068957871267705, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013149397872481879, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651675434639834, + "object_top_z": 1.2151409812454759, + "finger_top_clearance": 0.049973437781492436, + "fingertip_min_top_clearance": 0.014992031334447696, + "object_projection_between_fingers": 0.8305665265426616, + "object_to_finger_line_xy": 0.009865581331382073, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04784478935633853, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4886639981175021, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32990647293996755, + -0.3649843031637074, + 0.8515395647216216 + ], + "target_position": [ + 0.32355752072892946, + -0.3659200389025001, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006417538122278621, + "xy_threshold": 0.08, + "gripper_dist": 0.18390216140973117, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395647216216, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556746500681674, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08522302801021091, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15190499943077282, + "release_required_pad_clearance": 0.052611514005105456, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.285305051634726, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00862056016921997, + "max_z_decrease": 0.00862056016921997, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503665773824867, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00862056016921997, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02104159971616404, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00862056016921997, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008620868814913252, + "max_button_displacement": 0.12, + "button_start": [ + 0.17925745248794556, + -0.42218148708343506, + 0.7768088579177856 + ], + "button_final": [ + 0.17925745248794556, + -0.42218148708343506, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18010525240863778, + -0.42055484649974173, + 0.8040747692274829 + ], + "closest_button": [ + 0.17915023863315582, + -0.42218405008316034, + 0.7690890431404114 + ], + "closest_ee_minus_button": [ + 0.000955013775481961, + 0.0016292035834186147, + 0.03498572608707151 + ], + "button_min_z_position": [ + 0.1791955679655075, + -0.4221428632736206, + 0.7681882977485657 + ], + "min_active_finger_to_button": 0.144549128230835, + "closest_active_finger": [ + 0.05283927172422409, + -0.4831610918045044, + 0.8083282113075256 + ], + "closest_active_finger_button": [ + 0.17926548421382904, + -0.42218977212905884, + 0.7737831473350525 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12642621248960495, + -0.06097131967544556, + 0.034545063972473145 + ], + "min_contact_pad_to_button": 0.02104159971616404, + "closest_contact_pad": [ + 0.1791955679655075, + -0.4221428632736206, + 0.7892298974647297 + ], + "closest_contact_pad_button": [ + 0.1791955679655075, + -0.4221428632736206, + 0.7681882977485657 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02104159971616404 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 34, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "27c761f1277c85fe10bd9d2522d9700ec285defb61a4ce347941aa2ccf1b4ce2", + "visual_seed": 581026972953747984, + "episode_index": 34, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_35_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_35_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3cae193f13b29b4ccc8b4444eae44b0c0195fdbf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_35_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 35, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19901584123439342, + -0.0324074344592202, + 0.995979130148285 + ], + "current_z": 0.995979130148285, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1393926823443642, + "gripper_z": 0.9990105609089533, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19433143181898477, + -0.036929584317644704, + 0.9990105609089533 + ], + "object_minus_gripper": [ + 0.004684409415408652, + 0.004522149858424501, + -0.0030314307606683633 + ], + "object_to_gripper_xy": 0.006511031478438571, + "object_to_gripper_z": -0.0030314307606683633, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19901584123439342, + -0.05672333513657322, + 0.995979130148285 + ], + "finger_b": [ + 0.18795193649879405, + -0.0324074344592202, + 0.995979130148285 + ], + "finger_midpoint": [ + 0.19348388886659373, + -0.04456538479789671, + 0.995979130148285 + ], + "object_minus_finger_midpoint": [ + 0.005531952367799686, + 0.012157950338676504, + 0.0 + ], + "finger_gap": 0.026714659154653556, + "fingertip_max_gap": 0.09154271140791992, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013357329577326774, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.995979130148285, + "object_top_z": 1.041421391641641, + "finger_top_clearance": 0.04544226149335606, + "fingertip_min_top_clearance": 0.013632678448006835, + "object_projection_between_fingers": 0.8284788892950687, + "object_to_finger_line_xy": 0.0100704563399854, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827135570395996, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2592451912776759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3350137831654032, + 0.35102063973411973, + 0.7611065080147661 + ], + "gripper_position": [ + 0.3269731519496244, + 0.3143720405111335, + 1.0159662014294033 + ], + "target_minus_gripper": [ + 0.008040631215778804, + 0.036648599222986245, + -0.2548596934146372 + ], + "held_position": [ + 0.331642028010662, + 0.3188144094534999, + 1.0127944208280286 + ], + "held_minus_target": [ + -0.003371755154741196, + -0.03220623028061981, + 0.2516879128132625 + ], + "held_minus_gripper": [ + 0.004668876061037608, + 0.004442368942366437, + -0.003171780601374685 + ], + "xy_dist": 0.037520282186508463, + "held_xy_dist": 0.03238224824980249, + "held_gripper_dist": 0.007182843286379615, + "max_held_gripper_dist": 0.007199255200147921, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147661, + "held_z": 1.0127944208280286, + "required_height": 0.7911065080147661, + "gripper_z": 1.0159662014294033, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19899407058337, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7605754826241862, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.162816996782223, + "max_source_tilt_deg": 89.82298211361909, + "source_upright_tilt_deg": 2.821134549847022, + "max_source_upright_tilt_deg": 89.72133838558064, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.162816996782223, + "source_upright_return_tilt_deg": 2.821134549847022, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 2.1073424255447017e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.335, + 0.351, + 0.7611 + ], + "controller_target_position": [ + 0.335, + 0.351, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0007, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3346, + 0.325, + 1.0249 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0656, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004225253014165844, + -0.0006531828264638171, + -0.001634909006692192 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8211441805253497, + "source_return_step_error_deg": 2.162833926771979, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.825450440073081, + "source_return_best_wrist_position": -1.6126457452774048, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126457452774048 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.335, + 0.351, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.335, + 0.351, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0007, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3346, + 0.325, + 1.0249 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0656, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004225253014165844, + -0.0006531828264638171, + -0.001634909006692192 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8211441805253497, + "pour_controller_source_return_step_error_deg": 2.162833926771979, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.825450440073081, + "pour_controller_source_return_best_wrist_position": -1.6126457452774048, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126457452774048, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037520282186508463, + "valid_pour_held_xy_dist": 0.03238224824980249, + "valid_pour_held_gripper_dist": 0.007182843286379615, + "valid_pour_required_height": 0.7911065080147661, + "valid_pour_held_z": 1.0127944208280286, + "valid_pour_source_tilt_deg": 2.162816996782223, + "valid_pour_source_upright_tilt_deg": 2.821134549847022, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.331642028010662, + 0.2952582913894102, + 1.0127944208280286 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3204484201948197, + 0.3188144094534999, + 1.0127944208280286 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32604522410274084, + 0.30703635042145505, + 1.0127944208280286 + ], + "valid_pour_held_grasp_object_position": [ + 0.331642028010662, + 0.3188144094534999, + 1.0127944208280286 + ], + "valid_pour_held_grasp_finger_gap": 0.02608040556019443, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023881464299029036, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03161579665350793, + -0.9987880603456042, + 0.037720709338898255 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00598264903224104, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03361338764482104, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.331642028010662, + 0.2952582913894102, + 1.0127944208280286 + ], + "held_grasp_finger_b": [ + 0.3204484201948197, + 0.3188144094534999, + 1.0127944208280286 + ], + "held_grasp_midpoint": [ + 0.32604522410274084, + 0.30703635042145505, + 1.0127944208280286 + ], + "held_grasp_object_position": [ + 0.331642028010662, + 0.3188144094534999, + 1.0127944208280286 + ], + "held_grasp_finger_gap": 0.02608040556019443, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023881464299029036, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03161579665350793, + -0.9987880603456042, + 0.037720709338898255 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00598264903224104, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03361338764482104, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17555809784864906, + -0.03029405790162536, + 0.756586459740993 + ], + "target_position": [ + 0.17651031422898109, + -0.03658908761149971, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006366640800545715, + "xy_threshold": 0.08, + "gripper_dist": 0.21727853885856324, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586459740993, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07599429358115714, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08645734477557764, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18905735063767584, + "release_required_pad_clearance": 0.05322867238778882, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4782687229578426, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 293, + "max_placed_release_frames": 293 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3439645098597271, + 0.3468706303460988, + 1.1628408577303204 + ], + "current_z": 1.1628408577303204, + "required_z": 0.8611065080147661, + "initial_z": 0.7611065080147661, + "lift_margin": 0.30173434971555435, + "gripper_z": 1.1517019464202105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389174665654776, + 0.3421492087151199, + 1.1517019464202105 + ], + "object_minus_gripper": [ + 0.005047043294249487, + 0.004721421630978884, + 0.011138911310109911 + ], + "object_to_gripper_xy": 0.00691118428574322, + "object_to_gripper_z": 0.011138911310109911, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3439645098597271, + 0.32269415909565036, + 1.1628408577303204 + ], + "finger_b": [ + 0.33332604345752626, + 0.3468706303460988, + 1.1628408577303204 + ], + "finger_midpoint": [ + 0.33864527665862665, + 0.33478239472087457, + 1.1628408577303204 + ], + "object_minus_finger_midpoint": [ + 0.005319233201100448, + 0.012088235625224208, + 0.0 + ], + "finger_gap": 0.026413608793849335, + "fingertip_max_gap": 0.09059030860551445, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01320680439692468, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628408577303204, + "object_top_z": 1.2128694870273924, + "finger_top_clearance": 0.05002862929707197, + "fingertip_min_top_clearance": 0.01500858878912159, + "object_projection_between_fingers": 0.8377806824216768, + "object_to_finger_line_xy": 0.009737426609481783, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779515430275723, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30888159440255575, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33132378586933203, + -0.36412592272100114, + 0.8515395184631285 + ], + "target_position": [ + 0.3240324925506473, + -0.3657719818636643, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00747478889068055, + "xy_threshold": 0.08, + "gripper_dist": 0.18509128691429547, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395184631285, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521224752534413, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510003977373463, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15395563205519075, + "release_required_pad_clearance": 0.05255001988686732, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16785874220874702, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008666515350341797, + "max_z_decrease": 0.008666515350341797, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035036958139936326, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008666515350341797, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020963862344787018, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008666515350341797, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008666896147811643, + "max_button_displacement": 0.12, + "button_start": [ + 0.17973241209983826, + -0.4220334291458131, + 0.7768088579177856 + ], + "button_final": [ + 0.17973241209983826, + -0.4220334291458131, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18086049709935795, + -0.4213419058602857, + 0.8031521461753053 + ], + "closest_button": [ + 0.17965438961982724, + -0.4220107793807984, + 0.7681423425674438 + ], + "closest_ee_minus_button": [ + 0.0012061074795307047, + 0.0006688735205127028, + 0.035009803607861434 + ], + "button_min_z_position": [ + 0.17965438961982724, + -0.4220107793807984, + 0.7681423425674438 + ], + "min_active_finger_to_button": 0.14457902145504598, + "closest_active_finger": [ + 0.05476652830839157, + -0.48611003160476685, + 0.8111677169799805 + ], + "closest_active_finger_button": [ + 0.1797358989715576, + -0.4220393300056458, + 0.7768064737319946 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12496937066316602, + -0.06407070159912104, + 0.03436124324798584 + ], + "min_contact_pad_to_button": 0.020963862344787018, + "closest_contact_pad": [ + 0.17965438961982724, + -0.42234167623422203, + 0.789103593285938 + ], + "closest_contact_pad_button": [ + 0.17965438961982724, + -0.4220107793807984, + 0.7681423425674438 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003308968534236345, + 0.020961250718494195 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 35, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "33cca6ae048f7deaf88e8ee99106680c61bef865b153b7169705f39627ead3db", + "visual_seed": 4378341644245431136, + "episode_index": 35, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_36_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_36_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3498bd7c96238909322459f9823283948a425e37 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_36_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 36, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20459559568485916, + -0.03195899738897499, + 0.9950235575198849 + ], + "current_z": 0.9950235575198849, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13843705011131935, + "gripper_z": 0.9982271609602954, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19974227514624637, + -0.03662773329146772, + 0.9982271609602954 + ], + "object_minus_gripper": [ + 0.0048533205386127876, + 0.004668735902492734, + -0.003203603440410485 + ], + "object_to_gripper_xy": 0.006734375633846493, + "object_to_gripper_z": -0.003203603440410485, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20459559568485916, + -0.05625052302491348, + 0.9950235575198849 + ], + "finger_b": [ + 0.19320603898692157, + -0.03195899738897499, + 0.9950235575198849 + ], + "finger_midpoint": [ + 0.19890081733589038, + -0.04410476020694423, + 0.9950235575198849 + ], + "object_minus_finger_midpoint": [ + 0.005694778348968782, + 0.012145762817969245, + 0.0 + ], + "finger_gap": 0.026829092781847693, + "fingertip_max_gap": 0.09197624858732231, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01341454639092384, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950235575198849, + "object_top_z": 1.0406201263676726, + "finger_top_clearance": 0.04559656884778773, + "fingertip_min_top_clearance": 0.013678970654336335, + "object_projection_between_fingers": 0.8197805470715377, + "object_to_finger_line_xy": 0.010312302050597771, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848812429366116, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.378005230904309, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34188834447521776, + 0.34812737067207766, + 0.7611063292008317 + ], + "gripper_position": [ + 0.3345658839461799, + 0.31198353692897507, + 1.0158637525809777 + ], + "target_minus_gripper": [ + 0.007322460529037844, + 0.036143833743102594, + -0.25475742338014606 + ], + "held_position": [ + 0.3394840595851569, + 0.3164639542929204, + 1.0124927717955987 + ], + "held_minus_target": [ + -0.002404284890060837, + -0.03166341637915726, + 0.25138644259476706 + ], + "held_minus_gripper": [ + 0.004918175638977007, + 0.004480417363945333, + -0.0033709807853790075 + ], + "xy_dist": 0.03687811201577921, + "held_xy_dist": 0.03175456695709231, + "held_gripper_dist": 0.007458290878369132, + "max_held_gripper_dist": 0.007463927080499725, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0124927717955987, + "required_height": 0.7911063292008317, + "gripper_z": 1.0158637525809777, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19811297618044, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4553731286458587, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.258669090603158, + "max_source_tilt_deg": 89.77251924652478, + "source_upright_tilt_deg": 2.3292501001975623, + "max_source_upright_tilt_deg": 89.66238003615429, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.258669090603158, + "source_upright_return_tilt_deg": 2.3292501001975623, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3419, + 0.3481, + 0.7611 + ], + "controller_target_position": [ + 0.3419, + 0.3481, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0002, + -0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3423, + 0.3225, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0646, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00045457843137163565, + -0.00022963680769945058, + -0.0017767022100385076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.329243470268256, + "source_return_step_error_deg": 2.2586710105693664, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.331367034908982, + "source_return_best_wrist_position": -1.612552285194397, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612552285194397 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3419, + 0.3481, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3419, + 0.3481, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0002, + -0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3423, + 0.3225, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0646, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00045457843137163565, + -0.00022963680769945058, + -0.0017767022100385076 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.329243470268256, + "pour_controller_source_return_step_error_deg": 2.2586710105693664, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.331367034908982, + "pour_controller_source_return_best_wrist_position": -1.612552285194397, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612552285194397, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03687811201577921, + "valid_pour_held_xy_dist": 0.03175456695709231, + "valid_pour_held_gripper_dist": 0.007458290878369132, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0124927717955987, + "valid_pour_source_tilt_deg": 2.258669090603158, + "valid_pour_source_upright_tilt_deg": 2.3292501001975623, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3394840595851569, + 0.2926111206142347, + 1.0124927717955987 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3283824292593682, + 0.3164639542929204, + 1.0124927717955987 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3339332444222626, + 0.3045375374535776, + 1.0124927717955987 + ], + "valid_pour_held_grasp_object_position": [ + 0.3394840595851569, + 0.3164639542929204, + 1.0124927717955987 + ], + "valid_pour_held_grasp_finger_gap": 0.026309767585319208, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023986166526617492, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013785395068768348, + -0.9991737873880278, + 0.03823225705424993 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005732743814698596, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03336018206245045, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3394840595851569, + 0.2926111206142347, + 1.0124927717955987 + ], + "held_grasp_finger_b": [ + 0.3283824292593682, + 0.3164639542929204, + 1.0124927717955987 + ], + "held_grasp_midpoint": [ + 0.3339332444222626, + 0.3045375374535776, + 1.0124927717955987 + ], + "held_grasp_object_position": [ + 0.3394840595851569, + 0.3164639542929204, + 1.0124927717955987 + ], + "held_grasp_finger_gap": 0.026309767585319208, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023986166526617492, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013785395068768348, + -0.9991737873880278, + 0.03823225705424993 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005732743814698596, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03336018206245045, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.177898988968999, + -0.03398116625893878, + 0.7565867974517592 + ], + "target_position": [ + 0.18356678057786274, + -0.03187930642426573, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006044971173307452, + "xy_threshold": 0.08, + "gripper_dist": 0.21221975349612598, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565867974517592, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756342737297651, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08566228835247851, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1832684232558698, + "release_required_pad_clearance": 0.052831144176239256, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7066489160567025, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 291, + "max_placed_release_frames": 291 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3508382395225005, + 0.3452933325677009, + 1.1633707298160179 + ], + "current_z": 1.1633707298160179, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30226434101054145, + "gripper_z": 1.152190507488235, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3459503690341551, + 0.3406687215048564, + 1.152190507488235 + ], + "object_minus_gripper": [ + 0.0048878704883453805, + 0.004624611062844508, + 0.011180222327782818 + ], + "object_to_gripper_xy": 0.006728915617944805, + "object_to_gripper_z": 0.011180222327782818, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3508382395225005, + 0.3212649772949581, + 1.1633707298160179 + ], + "finger_b": [ + 0.34028243837250727, + 0.3452933325677009, + 1.1633707298160179 + ], + "finger_midpoint": [ + 0.3455603389475039, + 0.33327915493132954, + 1.1633707298160179 + ], + "object_minus_finger_midpoint": [ + 0.005277900574996608, + 0.01201417763637136, + 0.0 + ], + "finger_gap": 0.02624474795137769, + "fingertip_max_gap": 0.09093315247386821, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122373975688821, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1633707298160179, + "object_top_z": 1.213457633178618, + "finger_top_clearance": 0.05008690336260013, + "fingertip_min_top_clearance": 0.015026071008780072, + "object_projection_between_fingers": 0.838230147961638, + "object_to_finger_line_xy": 0.009664354204901021, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04796657623693411, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5088240010286269, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3262325750165442, + -0.3703137007696602, + 0.8515395613053687 + ], + "target_position": [ + 0.3225683787551636, + -0.3698605235517248, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003692113735080651, + "xy_threshold": 0.08, + "gripper_dist": 0.1807364180347129, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395613053687, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07548763451626306, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.086129387233681, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14870532886171736, + "release_required_pad_clearance": 0.053064693616840505, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1589192392203351, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008703172206878662, + "max_z_decrease": 0.008703172206878662, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003391909764564, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008703172206878662, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021025166459517925, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008703172206878662, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008703476188944953, + "max_button_displacement": 0.12, + "button_start": [ + 0.17826829850673676, + -0.4261219799518585, + 0.7768088579177856 + ], + "button_final": [ + 0.17826829850673676, + -0.4261219799518585, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17726881856987953, + -0.4267371180309869, + 0.8030905207150754 + ], + "closest_button": [ + 0.17820465564727783, + -0.42608675360679626, + 0.768105685710907 + ], + "closest_ee_minus_button": [ + -0.0009358370773983049, + -0.0006503644241906414, + 0.03498483500416838 + ], + "button_min_z_position": [ + 0.17820465564727783, + -0.42608675360679626, + 0.768105685710907 + ], + "min_active_finger_to_button": 0.1467557702339323, + "closest_active_finger": [ + 0.036422036588191986, + -0.4109025001525879, + 0.8093565106391907 + ], + "closest_active_finger_button": [ + 0.17826101183891296, + -0.42612767219543457, + 0.7749013900756836 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14183897525072098, + 0.01522517204284668, + 0.03445512056350708 + ], + "min_contact_pad_to_button": 0.021025166459517925, + "closest_contact_pad": [ + 0.17820465564727783, + -0.4278906918504277, + 0.7890533211732593 + ], + "closest_contact_pad_button": [ + 0.17820465564727783, + -0.42608675360679626, + 0.768105685710907 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018039382436314533, + 0.020947635462352343 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 36, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "0236498d85e6a99ba2f0c29f0ccda94e9901270ba8836922268ae4c6401da165", + "visual_seed": 4725393195144571215, + "episode_index": 36, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_37_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_37_success.json new file mode 100644 index 0000000000000000000000000000000000000000..83936b50f586a787ed20ff8ba7635799c0e77d8d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_37_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 37, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1993084466108987, + -0.03398897289203664, + 0.998192070422532 + ], + "current_z": 0.998192070422532, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14160550340932165, + "gripper_z": 1.0012182332471662, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19463978825767728, + -0.03849244679577919, + 1.0012182332471662 + ], + "object_minus_gripper": [ + 0.0046686583532214165, + 0.004503473903742554, + -0.003026162824634193 + ], + "object_to_gripper_xy": 0.006486728606993999, + "object_to_gripper_z": -0.003026162824634193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1993084466108987, + -0.05831064707746162, + 0.998192070422532 + ], + "finger_b": [ + 0.1882864683836252, + -0.03398897289203664, + 0.998192070422532 + ], + "finger_midpoint": [ + 0.19379745749726196, + -0.04614980998474913, + 0.998192070422532 + ], + "object_minus_finger_midpoint": [ + 0.005510989113636733, + 0.012160837092712491, + 0.0 + ], + "finger_gap": 0.026702581134123698, + "fingertip_max_gap": 0.09168938096943402, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013351290567061844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.998192070422532, + "object_top_z": 1.0436171557688418, + "finger_top_clearance": 0.045425085346309846, + "fingertip_min_top_clearance": 0.013627525603892953, + "object_projection_between_fingers": 0.8296223550336748, + "object_to_finger_line_xy": 0.010039215384314251, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834469048471701, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4047076730341397, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3360079886402567, + 0.3535797651575513, + 0.7611063888054763 + ], + "gripper_position": [ + 0.3294888353386898, + 0.3179406998376456, + 1.0170863810589916 + ], + "target_minus_gripper": [ + 0.006519153301566938, + 0.03563906531990568, + -0.2559799922535153 + ], + "held_position": [ + 0.33415890308291285, + 0.32234800336201475, + 1.0139225668856302 + ], + "held_minus_target": [ + -0.0018490855573438658, + -0.03123176179553655, + 0.2528161780801539 + ], + "held_minus_gripper": [ + 0.004670067744223072, + 0.004407303524369133, + -0.0031638141733614233 + ], + "xy_dist": 0.03623040624455976, + "held_xy_dist": 0.03128645173635888, + "held_gripper_dist": 0.007158461930827877, + "max_held_gripper_dist": 0.0071650014302903995, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0139225668856302, + "required_height": 0.7911063888054763, + "gripper_z": 1.0170863810589916, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20284629727526, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9727545543708613, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1882636927856427, + "max_source_tilt_deg": 89.65833118085718, + "source_upright_tilt_deg": 2.816586542464231, + "max_source_upright_tilt_deg": 89.68902985624945, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1882636927856427, + "source_upright_return_tilt_deg": 2.816586542464231, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.429369702178807e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.336, + 0.3536, + 0.7611 + ], + "controller_target_position": [ + 0.336, + 0.3536, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0008, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.337, + 0.3274, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0656, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010194111822758789, + -0.000829492392233111, + 0.0008810332587657257 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.816592410153513, + "source_return_step_error_deg": 2.188277953934786, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8202840102100035, + "source_return_best_wrist_position": -1.6128147840499878, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128147840499878 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.336, + 0.3536, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.336, + 0.3536, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0008, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.337, + 0.3274, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0656, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010194111822758789, + -0.000829492392233111, + 0.0008810332587657257 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.816592410153513, + "pour_controller_source_return_step_error_deg": 2.188277953934786, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8202840102100035, + "pour_controller_source_return_best_wrist_position": -1.6128147840499878, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128147840499878, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03623040624455976, + "valid_pour_held_xy_dist": 0.03128645173635888, + "valid_pour_held_gripper_dist": 0.007158461930827877, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0139225668856302, + "valid_pour_source_tilt_deg": 2.1882636927856427, + "valid_pour_source_upright_tilt_deg": 2.816586542464231, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.429369702178807e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33415890308291285, + 0.2987364900084287, + 1.0139225668856302 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32309199056179366, + 0.32234800336201475, + 1.0139225668856302 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3286254468223533, + 0.31054224668522173, + 1.0139225668856302 + ], + "valid_pour_held_grasp_object_position": [ + 0.33415890308291285, + 0.32234800336201475, + 1.0139225668856302 + ], + "valid_pour_held_grasp_finger_gap": 0.026076428351993985, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0239235446037527, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030772340825623662, + -0.9987919641831754, + 0.03831025088962725 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005911204003071198, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03357900746792167, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33415890308291285, + 0.2987364900084287, + 1.0139225668856302 + ], + "held_grasp_finger_b": [ + 0.32309199056179366, + 0.32234800336201475, + 1.0139225668856302 + ], + "held_grasp_midpoint": [ + 0.3286254468223533, + 0.31054224668522173, + 1.0139225668856302 + ], + "held_grasp_object_position": [ + 0.33415890308291285, + 0.32234800336201475, + 1.0139225668856302 + ], + "held_grasp_finger_gap": 0.026076428351993985, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0239235446037527, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030772340825623662, + -0.9987919641831754, + 0.03831025088962725 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005911204003071198, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03357900746792167, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19132028690516842, + -0.03792603071814679, + 0.7565888359245037 + ], + "target_position": [ + 0.17666655438301263, + -0.038177290702444806, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014655886476450199, + "xy_threshold": 0.08, + "gripper_dist": 0.22552440885404498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565888359245037, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551810313414245, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559570596905729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19576022403593574, + "release_required_pad_clearance": 0.052797852984528645, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6404092005356318, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3449723755833995, + 0.35194369233177336, + 1.1627916379347787 + ], + "current_z": 1.1627916379347787, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3016852491293024, + "gripper_z": 1.1517699171022864, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3401735649936729, + 0.3471137775527858, + 1.1517699171022864 + ], + "object_minus_gripper": [ + 0.004798810589726588, + 0.004829914778987587, + 0.01102172083249231 + ], + "object_to_gripper_xy": 0.006808572526481212, + "object_to_gripper_z": 0.01102172083249231, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3449723755833995, + 0.32828335768571143, + 1.1627916379347787 + ], + "finger_b": [ + 0.3337413771447846, + 0.35194369233177336, + 1.1627916379347787 + ], + "finger_midpoint": [ + 0.33935687636409206, + 0.34011352500874237, + 1.1627916379347787 + ], + "object_minus_finger_midpoint": [ + 0.005615499219307429, + 0.011830167323030993, + 0.0 + ], + "finger_gap": 0.0261905853598542, + "fingertip_max_gap": 0.09050467810163551, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013095292679927114, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627916379347787, + "object_top_z": 1.2126209158302828, + "finger_top_clearance": 0.049829277895504065, + "fingertip_min_top_clearance": 0.01494878336865122, + "object_projection_between_fingers": 0.8161149917030743, + "object_to_finger_line_xy": 0.01014598100103352, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775233905081776, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.33997971687793394, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33657400485585537, + -0.36388580625173833, + 0.8515395314490245 + ], + "target_position": [ + 0.32985166873566746, + -0.365089221039132, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006829202739947086, + "xy_threshold": 0.08, + "gripper_dist": 0.1839224285872516, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395314490245, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577530033509275, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08628813768230252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15147305719782214, + "release_required_pad_clearance": 0.05314406884115126, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3134116129646156, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008421838283538818, + "max_z_decrease": 0.008421838283538818, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499917193576589, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008421838283538818, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021346343503143163, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008421838283538818, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00842254292217758, + "max_button_displacement": 0.12, + "button_start": [ + 0.1855515986680984, + -0.4213506877422332, + 0.7768088579177856 + ], + "button_final": [ + 0.1855515986680984, + -0.4213506877422332, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1855234033670548, + -0.4223675434378602, + 0.804124130406489 + ], + "closest_button": [ + 0.18549361824989313, + -0.42133775353431696, + 0.7691401243209839 + ], + "closest_ee_minus_button": [ + 2.9785117161673647e-05, + -0.0010297899035432434, + 0.034984006085505115 + ], + "button_min_z_position": [ + 0.1854561269283294, + -0.4212982058525085, + 0.7683870196342468 + ], + "min_active_finger_to_button": 0.14581252889395674, + "closest_active_finger": [ + 0.04490138590335846, + -0.40535685420036316, + 0.80914705991745 + ], + "closest_active_finger_button": [ + 0.18555971980094904, + -0.4213562607765197, + 0.7742107510566711 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14065833389759058, + 0.01599940657615656, + 0.03493630886077881 + ], + "min_contact_pad_to_button": 0.021346343503143163, + "closest_contact_pad": [ + 0.1854561269283294, + -0.4236276663635944, + 0.7896058790447211 + ], + "closest_contact_pad_button": [ + 0.1854561269283294, + -0.4212982058525085, + 0.7683870196342468 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023294605110859012, + 0.0212188594104743 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 37, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1338914a133f527c53eda2278d82d5ae1481fb857813a1e399da5c794774b1d7", + "visual_seed": 3313614973939849711, + "episode_index": 37, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_38_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_38_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f8626e9972cc3d25bc7e13080b0b09abb31045a9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_38_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 38, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20162133012278485, + -0.029598980167640447, + 0.9960795709574775 + ], + "current_z": 0.9960795709574775, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1394930635489119, + "gripper_z": 0.9991411277135824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19694141183574668, + -0.03421808668249586, + 0.9991411277135824 + ], + "object_minus_gripper": [ + 0.004679918287038176, + 0.004619106514855413, + -0.0030615567561049772 + ], + "object_to_gripper_xy": 0.0065755440967979265, + "object_to_gripper_z": -0.0030615567561049772, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20162133012278485, + -0.05373773867792704, + 0.9960795709574775 + ], + "finger_b": [ + 0.19019419526261383, + -0.029598980167640447, + 0.9960795709574775 + ], + "finger_midpoint": [ + 0.19590776269269933, + -0.04166835942278374, + 0.9960795709574775 + ], + "object_minus_finger_midpoint": [ + 0.0057135674300855255, + 0.012069379255143294, + 0.0 + ], + "finger_gap": 0.026706910595021456, + "fingertip_max_gap": 0.09155745919409658, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013353455297510732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9960795709574775, + "object_top_z": 1.0415326284039406, + "finger_top_clearance": 0.04545305744646311, + "fingertip_min_top_clearance": 0.013635917233938932, + "object_projection_between_fingers": 0.8169256922786868, + "object_to_finger_line_xy": 0.01032829491351073, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827872959704829, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3084017615051344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34170720595974535, + 0.3560150917337842, + 0.7611063888054763 + ], + "gripper_position": [ + 0.3341006686830411, + 0.3201407929369206, + 1.016562393944027 + ], + "target_minus_gripper": [ + 0.007606537276704239, + 0.0358742987968636, + -0.2554560051385506 + ], + "held_position": [ + 0.3388330632995966, + 0.3246079015434924, + 1.01335936194469 + ], + "held_minus_target": [ + -0.0028741426601487374, + -0.03140719019029181, + 0.2522529731392136 + ], + "held_minus_gripper": [ + 0.004732394616555502, + 0.00446710860657179, + -0.003203031999337025 + ], + "xy_dist": 0.03667185192362857, + "held_xy_dist": 0.03153842563730867, + "held_gripper_dist": 0.007253277335004377, + "max_held_gripper_dist": 0.007258083409040232, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.01335936194469, + "required_height": 0.7911063888054763, + "gripper_z": 1.016562393944027, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19934924042022, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0460731588036083, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.161154454733477, + "max_source_tilt_deg": 89.64129402271953, + "source_upright_tilt_deg": 2.3591545076719243, + "max_source_upright_tilt_deg": 89.91962800170695, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.161154454733477, + "source_upright_return_tilt_deg": 2.3591545076719243, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001879590124e-08, + "max_target_xy_drift": 1.4901161200508993e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3417, + 0.356, + 0.7611 + ], + "controller_target_position": [ + 0.3417, + 0.356, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0004, + -0.0006, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3413, + 0.3301, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0647, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003824728458214253, + -0.0005663649024448879, + 0.00020670776249784523 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.359145534929143, + "source_return_step_error_deg": 2.1611472645301544, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.366138278196886, + "source_return_best_wrist_position": -1.6127443313598633, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127443313598633 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3417, + 0.356, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3417, + 0.356, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0004, + -0.0006, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3413, + 0.3301, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0647, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003824728458214253, + -0.0005663649024448879, + 0.00020670776249784523 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.359145534929143, + "pour_controller_source_return_step_error_deg": 2.1611472645301544, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.366138278196886, + "pour_controller_source_return_best_wrist_position": -1.6127443313598633, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127443313598633, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03667185192362857, + "valid_pour_held_xy_dist": 0.03153842563730867, + "valid_pour_held_gripper_dist": 0.007253277335004377, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.01335936194469, + "valid_pour_source_tilt_deg": 2.161154454733477, + "valid_pour_source_upright_tilt_deg": 2.3591545076719243, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001879590124e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3388330632995966, + 0.3009926733550645, + 1.01335936194469 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32762721725048954, + 0.3246079015434924, + 1.01335936194469 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33323014027504305, + 0.31280028744927846, + 1.01335936194469 + ], + "valid_pour_held_grasp_object_position": [ + 0.3388330632995966, + 0.3246079015434924, + 1.01335936194469 + ], + "valid_pour_held_grasp_finger_gap": 0.02613905101697089, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023790874852111808, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017460708795921435, + -0.9991524388063606, + 0.03727636886347619 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005824753414541046, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350044955443026, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3388330632995966, + 0.3009926733550645, + 1.01335936194469 + ], + "held_grasp_finger_b": [ + 0.32762721725048954, + 0.3246079015434924, + 1.01335936194469 + ], + "held_grasp_midpoint": [ + 0.33323014027504305, + 0.31280028744927846, + 1.01335936194469 + ], + "held_grasp_object_position": [ + 0.3388330632995966, + 0.3246079015434924, + 1.01335936194469 + ], + "held_grasp_finger_gap": 0.02613905101697089, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023790874852111808, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017460708795921435, + -0.9991524388063606, + 0.03727636886347619 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005824753414541046, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350044955443026, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1729551903293464, + -0.03507227633830836, + 0.7565868742641969 + ], + "target_position": [ + 0.17913052570482432, + -0.033484129622665684, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006376282380042133, + "xy_threshold": 0.08, + "gripper_dist": 0.21304143808624246, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868742641969, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524623485533698, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08895312415758648, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18479405021782522, + "release_required_pad_clearance": 0.05447656207879324, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9777772784074372, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 297, + "max_placed_release_frames": 297 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3506546090652035, + 0.3544888991396347, + 1.1630465328067259 + ], + "current_z": 1.1630465328067259, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3019401440012496, + "gripper_z": 1.1517873929298232, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34606182828808646, + 0.3498597817223547, + 1.1517873929298232 + ], + "object_minus_gripper": [ + 0.004592780777117056, + 0.004629117417280004, + 0.011259139876902635 + ], + "object_to_gripper_xy": 0.006520917368715927, + "object_to_gripper_z": 0.011259139876902635, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3506546090652035, + 0.3309794651033317, + 1.1630465328067259 + ], + "finger_b": [ + 0.3396699340453278, + 0.3544888991396347, + 1.1630465328067259 + ], + "finger_midpoint": [ + 0.3451622715552657, + 0.3427341821214832, + 1.1630465328067259 + ], + "object_minus_finger_midpoint": [ + 0.005492337509937828, + 0.011754717018151506, + 0.0 + ], + "finger_gap": 0.025949115090876683, + "fingertip_max_gap": 0.0908850856184136, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01297455754543833, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630465328067259, + "object_top_z": 1.2131605736675473, + "finger_top_clearance": 0.050114040860821385, + "fingertip_min_top_clearance": 0.015034212258246415, + "object_projection_between_fingers": 0.8208035831957888, + "object_to_finger_line_xy": 0.009951919049478017, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0479425428092068, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5752890944475958, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3268203664952591, + -0.36474661837582534, + 0.8515395761826642 + ], + "target_position": [ + 0.3201622108415091, + -0.3658669806226707, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0067517589022209204, + "xy_threshold": 0.08, + "gripper_dist": 0.18521499473323816, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395761826642, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521362620635154, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08727550248806025, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15410575838297128, + "release_required_pad_clearance": 0.05363775124403013, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.285561858711278, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008627355098724365, + "max_z_decrease": 0.008627355098724365, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035082182649301415, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008627355098724365, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020978892197137295, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008627355098724365, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008627853297076448, + "max_button_displacement": 0.12, + "button_start": [ + 0.1758621335029602, + -0.42212843894958496, + 0.7768088579177856 + ], + "button_final": [ + 0.1758621335029602, + -0.42212843894958496, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17787605028432696, + -0.4226016897496199, + 0.8031970412807927 + ], + "closest_button": [ + 0.17577299475669858, + -0.4221029281616211, + 0.7681815028190613 + ], + "closest_ee_minus_button": [ + 0.002103055527628378, + -0.0004987615879988305, + 0.035015538461731444 + ], + "button_min_z_position": [ + 0.17577299475669858, + -0.4221029281616211, + 0.7681815028190613 + ], + "min_active_finger_to_button": 0.14387657328371115, + "closest_active_finger": [ + 0.03678721934556961, + -0.40878549218177795, + 0.8105778694152832 + ], + "closest_active_finger_button": [ + 0.17586563527584073, + -0.42213404178619385, + 0.7762343287467957 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13907841593027112, + 0.013348549604415894, + 0.03434354066848755 + ], + "min_contact_pad_to_button": 0.020978892197137295, + "closest_contact_pad": [ + 0.17577299475669858, + -0.4235726101085062, + 0.7891088522163 + ], + "closest_contact_pad_button": [ + 0.17577299475669858, + -0.4221029281616211, + 0.7681815028190613 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0014696819468851263, + 0.020927349397238726 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 38, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3b82c8a0122543d8f319beac628c81e96498a346b4adf9497f2520cb140dd531", + "visual_seed": 3602446574531680239, + "episode_index": 38, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_39_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_39_success.json new file mode 100644 index 0000000000000000000000000000000000000000..42cf508347fa87e75b5163277a20f24ba1a0b144 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_39_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 39, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20169023478033685, + -0.03265160793082303, + 0.9976721181076962 + ], + "current_z": 0.9976721181076962, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.14108567030377528, + "gripper_z": 1.0006706362775262, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1969307304209066, + -0.037196847126985955, + 1.0006706362775262 + ], + "object_minus_gripper": [ + 0.004759504359430233, + 0.004545239196162926, + -0.002998518169829989 + ], + "object_to_gripper_xy": 0.00658119146490749, + "object_to_gripper_z": -0.002998518169829989, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20169023478033685, + -0.057010467462438506, + 0.9976721181076962 + ], + "finger_b": [ + 0.1906505894445856, + -0.03265160793082303, + 0.9976721181076962 + ], + "finger_midpoint": [ + 0.19617041211246122, + -0.04483103769663077, + 0.9976721181076962 + ], + "object_minus_finger_midpoint": [ + 0.0055198226678756235, + 0.012179429765807742, + 0.0 + ], + "finger_gap": 0.026743743321011523, + "fingertip_max_gap": 0.09193301879096089, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013371871660505765, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9976721181076962, + "object_top_z": 1.0432733833712962, + "finger_top_clearance": 0.04560126526359998, + "fingertip_min_top_clearance": 0.013680379579080009, + "object_projection_between_fingers": 0.8296014668654783, + "object_to_finger_line_xy": 0.010055180637377103, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048466509395480445, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2993996863418296, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3429442109550914, + 0.35440016348823977, + 0.761106508014766 + ], + "gripper_position": [ + 0.33614127618478307, + 0.3188245200338776, + 1.0167259122818475 + ], + "target_minus_gripper": [ + 0.006802934770308355, + 0.03557564345436215, + -0.2556194042670815 + ], + "held_position": [ + 0.34094282158992895, + 0.32321314475334373, + 1.013561969207041 + ], + "held_minus_target": [ + -0.002001389365162476, + -0.031187018734896044, + 0.252455461192275 + ], + "held_minus_gripper": [ + 0.0048015454051458795, + 0.0043886247194661054, + -0.0031639430748064967 + ], + "xy_dist": 0.036220247496130814, + "held_xy_dist": 0.031251171129443166, + "held_gripper_dist": 0.007233629862427469, + "max_held_gripper_dist": 0.0072395213184442584, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.013561969207041, + "required_height": 0.791106508014766, + "gripper_z": 1.0167259122818475, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20323561805795, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9010473038096936, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.375459047064176, + "max_source_tilt_deg": 89.96843654175302, + "source_upright_tilt_deg": 2.4353602457376384, + "max_source_upright_tilt_deg": 89.93629937265295, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.375459047064176, + "source_upright_return_tilt_deg": 2.4353602457376384, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3429, + 0.3544, + 0.7611 + ], + "controller_target_position": [ + 0.3429, + 0.3544, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + 0.0002, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3437, + 0.3292, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0648, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007640629670847233, + 0.0002131470019208618, + -0.0005945967108348124 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.435363385179483, + "source_return_step_error_deg": 2.375460724885026, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.446209769368149, + "source_return_best_wrist_position": -1.6128886938095093, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128886938095093 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3429, + 0.3544, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3429, + 0.3544, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + 0.0002, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3437, + 0.3292, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0648, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007640629670847233, + 0.0002131470019208618, + -0.0005945967108348124 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.435363385179483, + "pour_controller_source_return_step_error_deg": 2.375460724885026, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.446209769368149, + "pour_controller_source_return_best_wrist_position": -1.6128886938095093, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128886938095093, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036220247496130814, + "valid_pour_held_xy_dist": 0.031251171129443166, + "valid_pour_held_gripper_dist": 0.007233629862427469, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.013561969207041, + "valid_pour_source_tilt_deg": 2.375459047064176, + "valid_pour_source_upright_tilt_deg": 2.4353602457376384, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34094282158992895, + 0.2993655983083152, + 1.013561969207041 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33008799592849425, + 0.32321314475334373, + 1.013561969207041 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3355154087592116, + 0.3112893715308295, + 1.013561969207041 + ], + "valid_pour_held_grasp_object_position": [ + 0.34094282158992895, + 0.32321314475334373, + 1.013561969207041 + ], + "valid_pour_held_grasp_finger_gap": 0.026201769245376032, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024010655968417723, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01701072660953071, + -0.9990968065255174, + 0.0389384947157534 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005648425777154899, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033379545453322695, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34094282158992895, + 0.2993655983083152, + 1.013561969207041 + ], + "held_grasp_finger_b": [ + 0.33008799592849425, + 0.32321314475334373, + 1.013561969207041 + ], + "held_grasp_midpoint": [ + 0.3355154087592116, + 0.3112893715308295, + 1.013561969207041 + ], + "held_grasp_object_position": [ + 0.34094282158992895, + 0.32321314475334373, + 1.013561969207041 + ], + "held_grasp_finger_gap": 0.026201769245376032, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024010655968417723, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01701072660953071, + -0.9990968065255174, + 0.0389384947157534 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005648425777154899, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033379545453322695, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18883222451918746, + -0.03129187911913278, + 0.7565863589695346 + ], + "target_position": [ + 0.18086954651376963, + -0.032221114988255736, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008016715057829462, + "xy_threshold": 0.08, + "gripper_dist": 0.22072847554457017, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863589695346, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527476585821717, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08853548018388656, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19169992317272086, + "release_required_pad_clearance": 0.05426774009194328, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5543636101361975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3517876840522658, + 0.35272178084526373, + 1.1632049726883948 + ], + "current_z": 1.1632049726883948, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.3020984646736289, + "gripper_z": 1.152027435165501, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34719374597326375, + 0.3480692625327969, + 1.152027435165501 + ], + "object_minus_gripper": [ + 0.004593938079002047, + 0.004652518312466825, + 0.011177537522893743 + ], + "object_to_gripper_xy": 0.006538363229550968, + "object_to_gripper_z": 0.011177537522893743, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3517876840522658, + 0.3291035430922432, + 1.1632049726883948 + ], + "finger_b": [ + 0.3409265758424439, + 0.35272178084526373, + 1.1632049726883948 + ], + "finger_midpoint": [ + 0.34635712994735485, + 0.34091266196875347, + 1.1632049726883948 + ], + "object_minus_finger_midpoint": [ + 0.005430554104910945, + 0.01180911887651026, + 0.0 + ], + "finger_gap": 0.025995861711119797, + "fingertip_max_gap": 0.09082280066593237, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012997930855559899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1632049726883948, + "object_top_z": 1.2131765275645714, + "finger_top_clearance": 0.04997155487617655, + "fingertip_min_top_clearance": 0.014991466462852964, + "object_projection_between_fingers": 0.8254419646774296, + "object_to_finger_line_xy": 0.009867733518951973, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04791140033296619, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6111304519596704, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3282826165204241, + -0.3638337213224876, + 0.8515396038355852 + ], + "target_position": [ + 0.32431104771840785, + -0.3636466628934107, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.003975971529706627, + "xy_threshold": 0.08, + "gripper_dist": 0.17971311359689257, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396038355852, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543741462631583, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546062039600442, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14796342434053078, + "release_required_pad_clearance": 0.052730310198002214, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5128173113258271, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008505523204803467, + "max_z_decrease": 0.008505523204803467, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035004788513275854, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008505523204803467, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021076388105264902, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008505523204803467, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506391457195804, + "max_button_displacement": 0.12, + "button_start": [ + 0.180010974407196, + -0.4199081361293792, + 0.7768088579177856 + ], + "button_final": [ + 0.180010974407196, + -0.4199081361293792, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17845507729405086, + -0.4199458739561629, + 0.8045649422224401 + ], + "closest_button": [ + 0.17994591593742368, + -0.41991651058197016, + 0.7695919275283813 + ], + "closest_ee_minus_button": [ + -0.0014908386433728216, + -2.9363374192736824e-05, + 0.03497301469405878 + ], + "button_min_z_position": [ + 0.17989365756511683, + -0.4198763966560363, + 0.7683033347129822 + ], + "min_active_finger_to_button": 0.14737896752339585, + "closest_active_finger": [ + 0.050771892070770264, + -0.48169809579849243, + 0.8085373640060425 + ], + "closest_active_finger_button": [ + 0.1800239980220794, + -0.41992327570915217, + 0.7739205360412598 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12925210595130915, + -0.061774820089340265, + 0.034616827964782715 + ], + "min_contact_pad_to_button": 0.021076388105264902, + "closest_contact_pad": [ + 0.17989365756511683, + -0.4210928770797184, + 0.7893445873121634 + ], + "closest_contact_pad_button": [ + 0.17989365756511683, + -0.4198763966560363, + 0.7683033347129822 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012164804236820537, + 0.021041252599181215 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 39, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3ffab6a01345f517d49fdf997de8de3f1a919606a5443242da0458d2a349bc18", + "visual_seed": 6238605567211948829, + "episode_index": 39, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_3_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_3_success.json new file mode 100644 index 0000000000000000000000000000000000000000..af3bcf230fe075d440ff2b1198a6f02938d8faa8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_3_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 3, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20289265266831688, + -0.027197772563856498, + 0.9975060309525523 + ], + "current_z": 0.9975060309525523, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14091952354398674, + "gripper_z": 1.0007338993009134, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19814036198215237, + -0.03191632962113859, + 1.0007338993009134 + ], + "object_minus_gripper": [ + 0.0047522906861645065, + 0.004718557057282094, + -0.003227868348361085 + ], + "object_to_gripper_xy": 0.006696943143601607, + "object_to_gripper_z": -0.003227868348361085, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20289265266831688, + -0.051274214632044963, + 0.9975060309525523 + ], + "finger_b": [ + 0.19118601503037658, + -0.027197772563856498, + 0.9975060309525523 + ], + "finger_midpoint": [ + 0.19703933384934674, + -0.03923599359795073, + 0.9975060309525523 + ], + "object_minus_finger_midpoint": [ + 0.005853318818970138, + 0.01203822103409423, + 0.0 + ], + "finger_gap": 0.026771634754883308, + "fingertip_max_gap": 0.09163225992547094, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013385817377441645, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9975060309525523, + "object_top_z": 1.042962975395981, + "finger_top_clearance": 0.04545694444342874, + "fingertip_min_top_clearance": 0.013637083333028637, + "object_projection_between_fingers": 0.8087882533586417, + "object_to_finger_line_xy": 0.010528090102967387, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048316129962735474, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3792565556143839, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33579141516346556, + 0.35041890104278994, + 0.7611063888054763 + ], + "gripper_position": [ + 0.32796063521603847, + 0.31461944815696663, + 1.0165347984733357 + ], + "target_minus_gripper": [ + 0.007830779947427091, + 0.03579945288582331, + -0.2554284096678594 + ], + "held_position": [ + 0.33282365398642694, + 0.3191199842562265, + 1.013161877118659 + ], + "held_minus_target": [ + -0.002967761177038619, + -0.031298916786563435, + 0.2520554883131827 + ], + "held_minus_gripper": [ + 0.004863018770388472, + 0.0045005360992598775, + -0.0033729213546767056 + ], + "xy_dist": 0.03664589938191324, + "held_xy_dist": 0.03143930340220916, + "held_gripper_dist": 0.007435077350419836, + "max_held_gripper_dist": 0.007439752003572971, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.013161877118659, + "required_height": 0.7911063888054763, + "gripper_z": 1.0165347984733357, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20307169351787, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6876359447981225, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.184663359317348, + "max_source_tilt_deg": 89.75003249795341, + "source_upright_tilt_deg": 2.167813612703192, + "max_source_upright_tilt_deg": 89.98302113017674, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.184663359317348, + "source_upright_return_tilt_deg": 2.167813612703192, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.2644054553268208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3358, + 0.3504, + 0.7611 + ], + "controller_target_position": [ + 0.3358, + 0.3504, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0006, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3345, + 0.3256, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.064, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012998070661811494, + 0.0005663284924043947, + -0.0006291280124507432 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1681507286572095, + "source_return_step_error_deg": 2.184970835318029, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.183533843936228, + "source_return_best_wrist_position": -1.6129175424575806, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129175424575806 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3358, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3358, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0006, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3345, + 0.3256, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.064, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0012998070661811494, + 0.0005663284924043947, + -0.0006291280124507432 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1681507286572095, + "pour_controller_source_return_step_error_deg": 2.184970835318029, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.183533843936228, + "pour_controller_source_return_best_wrist_position": -1.6129175424575806, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129175424575806, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03664589938191324, + "valid_pour_held_xy_dist": 0.03143930340220916, + "valid_pour_held_gripper_dist": 0.007435077350419836, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.013161877118659, + "valid_pour_source_tilt_deg": 2.184663359317348, + "valid_pour_source_upright_tilt_deg": 2.167813612703192, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33282365398642694, + 0.2953815358162367, + 1.013161877118659 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3216133891509508, + 0.3191199842562265, + 1.013161877118659 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32721852156868886, + 0.30725076003623164, + 1.013161877118659 + ], + "valid_pour_held_grasp_object_position": [ + 0.33282365398642694, + 0.3191199842562265, + 1.013161877118659 + ], + "valid_pour_held_grasp_finger_gap": 0.02625231365079213, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023795207817387524, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00657863080863161, + -0.9992843333352306, + 0.037249735132584116 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005700213069175522, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0333763692507366, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33282365398642694, + 0.2953815358162367, + 1.013161877118659 + ], + "held_grasp_finger_b": [ + 0.3216133891509508, + 0.3191199842562265, + 1.013161877118659 + ], + "held_grasp_midpoint": [ + 0.32721852156868886, + 0.30725076003623164, + 1.013161877118659 + ], + "held_grasp_object_position": [ + 0.33282365398642694, + 0.3191199842562265, + 1.013161877118659 + ], + "held_grasp_finger_gap": 0.02625231365079213, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023795207817387524, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00657863080863161, + -0.9992843333352306, + 0.037249735132584116 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005700213069175522, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0333763692507366, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18202162760115997, + -0.030094802341952803, + 0.7565863754756333 + ], + "target_position": [ + 0.18049678409281153, + -0.030293965463786935, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.001537795068938352, + "xy_threshold": 0.08, + "gripper_dist": 0.2176421999811618, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863754756333, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550858074221481, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08630148216847212, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18849948981987844, + "release_required_pad_clearance": 0.053150741084236064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.326457250756114, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3449038118891592, + 0.3468162411575661, + 1.1640115327938414 + ], + "current_z": 1.1640115327938414, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.3029052035930099, + "gripper_z": 1.1528857072061327, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34000363125461097, + 0.34188755628379464, + 1.1528857072061327 + ], + "object_minus_gripper": [ + 0.0049001806345482235, + 0.004928684873771461, + 0.011125825587708693 + ], + "object_to_gripper_xy": 0.0069500866783188415, + "object_to_gripper_z": 0.011125825587708693, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3449038118891592, + 0.3227585151357329, + 1.1640115327938414 + ], + "finger_b": [ + 0.33393028889193993, + 0.3468162411575661, + 1.1640115327938414 + ], + "finger_midpoint": [ + 0.3394170503905496, + 0.3347873781466495, + 1.1640115327938414 + ], + "object_minus_finger_midpoint": [ + 0.005486761498609605, + 0.012028863010916602, + 0.0 + ], + "finger_gap": 0.026442246279620243, + "fingertip_max_gap": 0.09012632308126586, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01322112313981011, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1640115327938414, + "object_top_z": 1.214031916524496, + "finger_top_clearance": 0.05002038373065454, + "fingertip_min_top_clearance": 0.015006115119196362, + "object_projection_between_fingers": 0.8277752890571367, + "object_to_finger_line_xy": 0.009983947920674856, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047563161540632934, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.41184641170051106, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3372181163724533, + -0.3684910308307787, + 0.8515395157447887 + ], + "target_position": [ + 0.329737950674292, + -0.370271478889546, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00768914001445655, + "xy_threshold": 0.08, + "gripper_dist": 0.18243832317917763, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395157447887, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07589636049986852, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08540871991407471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1497952284923595, + "release_required_pad_clearance": 0.05270435995703736, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.46309304305732896, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00855797529220581, + "max_z_decrease": 0.00855797529220581, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498562434101793, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00855797529220581, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02119901715158214, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00855797529220581, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008558045007499909, + "max_button_displacement": 0.12, + "button_start": [ + 0.18543787300586695, + -0.42653292417526245, + 0.7768088579177856 + ], + "button_final": [ + 0.18543787300586695, + -0.42653292417526245, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18490418736854464, + -0.4262994513341418, + 0.8044090254446993 + ], + "closest_button": [ + 0.18534357845783228, + -0.4265047907829285, + 0.7694267630577087 + ], + "closest_ee_minus_button": [ + -0.00043939108928764403, + 0.00020533944878670107, + 0.03498226238699054 + ], + "button_min_z_position": [ + 0.18541458249092094, + -0.4265074133872986, + 0.7682508826255798 + ], + "min_active_finger_to_button": 0.14645051371735274, + "closest_active_finger": [ + 0.05724756419658661, + -0.48818081617355347, + 0.8078528642654419 + ], + "closest_active_finger_button": [ + 0.18544869124889365, + -0.42653837800025945, + 0.7730328440666199 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12820112705230705, + -0.06164243817329401, + 0.03482002019882202 + ], + "min_contact_pad_to_button": 0.02119901715158214, + "closest_contact_pad": [ + 0.18541458249092094, + -0.4275604733242897, + 0.789423728276606 + ], + "closest_contact_pad_button": [ + 0.18541458249092094, + -0.4265074133872986, + 0.7682508826255798 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0010530599369911187, + 0.021172845651026173 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 3, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "df21c691a09a488f6854127fde1d68728dc9d3f8859130356b0c61b6e740647f", + "visual_seed": 2180020520728315420, + "episode_index": 3, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_40_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_40_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4108f2af26db090bed5eaef63ee95989b5ae5266 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_40_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 40, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20038120058353187, + -0.034375298435701994, + 0.9949808444962526 + ], + "current_z": 0.9949808444962526, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.138394337087687, + "gripper_z": 0.9982023572212825, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1957198414902839, + -0.03898275017751954, + 0.9982023572212825 + ], + "object_minus_gripper": [ + 0.004661359093247969, + 0.004607451741817543, + -0.003221512725029907 + ], + "object_to_gripper_xy": 0.006554149841846999, + "object_to_gripper_z": -0.003221512725029907, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20038120058353187, + -0.05854010166094073, + 0.9949808444962526 + ], + "finger_b": [ + 0.1889335106861137, + -0.034375298435701994, + 0.9949808444962526 + ], + "finger_midpoint": [ + 0.19465735563482278, + -0.046457700048321365, + 0.9949808444962526 + ], + "object_minus_finger_midpoint": [ + 0.005723844948709089, + 0.012082401612619371, + 0.0 + ], + "finger_gap": 0.026739246790101596, + "fingertip_max_gap": 0.09141170590576203, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013369623395050802, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949808444962526, + "object_top_z": 1.0402887045182783, + "finger_top_clearance": 0.04530786002202569, + "fingertip_min_top_clearance": 0.013592358006607708, + "object_projection_between_fingers": 0.8167105897924043, + "object_to_finger_line_xy": 0.010345511073149138, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04820585295288102, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2945320301744119, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3431278230633219, + 0.3490006979273267, + 0.7611063888054767 + ], + "gripper_position": [ + 0.33586043458577153, + 0.31433183428452127, + 1.0167673659605918 + ], + "target_minus_gripper": [ + 0.007267388477550374, + 0.034668863642805414, + -0.25566097715511515 + ], + "held_position": [ + 0.34058826579872037, + 0.3187948890663682, + 1.0134402412718684 + ], + "held_minus_target": [ + -0.002539557264601533, + -0.030205808860958472, + 0.25233385246639173 + ], + "held_minus_gripper": [ + 0.004727831212948841, + 0.004463054781846942, + -0.0033271246887234263 + ], + "xy_dist": 0.03542238051807172, + "held_xy_dist": 0.030312377670597662, + "held_gripper_dist": 0.007303492634227348, + "max_held_gripper_dist": 0.007308381070511945, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0134402412718684, + "required_height": 0.7911063888054767, + "gripper_z": 1.0167673659605918, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19930142909602, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0571257863328474, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.153742969033024, + "max_source_tilt_deg": 89.63061706422596, + "source_upright_tilt_deg": 2.3719291268560645, + "max_source_upright_tilt_deg": 89.93589978062569, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.153742969033024, + "source_upright_return_tilt_deg": 2.3719291268560645, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3431, + 0.349, + 0.7611 + ], + "controller_target_position": [ + 0.3431, + 0.349, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0002, + 0.001, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3429, + 0.3246, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0648, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00018457874266857824, + 0.0009546907778360415, + 8.516198017602351e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3719031617993873, + "source_return_step_error_deg": 2.153722545900589, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.378604474923685, + "source_return_best_wrist_position": -1.6126803159713745, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126803159713745 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3431, + 0.349, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3431, + 0.349, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0002, + 0.001, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3429, + 0.3246, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0648, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.00018457874266857824, + 0.0009546907778360415, + 8.516198017602351e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3719031617993873, + "pour_controller_source_return_step_error_deg": 2.153722545900589, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.378604474923685, + "pour_controller_source_return_best_wrist_position": -1.6126803159713745, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126803159713745, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03542238051807172, + "valid_pour_held_xy_dist": 0.030312377670597662, + "valid_pour_held_gripper_dist": 0.007303492634227348, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0134402412718684, + "valid_pour_source_tilt_deg": 2.153742969033024, + "valid_pour_source_upright_tilt_deg": 2.3719291268560645, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34058826579872037, + 0.29519490126869724, + 1.0134402412718684 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3293711407549767, + 0.3187948890663682, + 1.0134402412718684 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33497970327684856, + 0.30699489516753276, + 1.0134402412718684 + ], + "valid_pour_held_grasp_object_position": [ + 0.34058826579872037, + 0.3187948890663682, + 1.0134402412718684 + ], + "valid_pour_held_grasp_finger_gap": 0.0261301228144301, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023784040261433763, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018210733895204372, + -0.9991432361892978, + 0.03716399801118353 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005838867617913448, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033512476914334746, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34058826579872037, + 0.29519490126869724, + 1.0134402412718684 + ], + "held_grasp_finger_b": [ + 0.3293711407549767, + 0.3187948890663682, + 1.0134402412718684 + ], + "held_grasp_midpoint": [ + 0.33497970327684856, + 0.30699489516753276, + 1.0134402412718684 + ], + "held_grasp_object_position": [ + 0.34058826579872037, + 0.3187948890663682, + 1.0134402412718684 + ], + "held_grasp_finger_gap": 0.0261301228144301, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023784040261433763, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018210733895204372, + -0.9991432361892978, + 0.03716399801118353 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005838867617913448, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033512476914334746, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17570369103130368, + -0.029495705378269156, + 0.7565892140958457 + ], + "target_position": [ + 0.1750399854867318, + -0.03717056265543755, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007703501754059649, + "xy_threshold": 0.08, + "gripper_dist": 0.2168146774448917, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565892140958457, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540005319909183, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509510677361538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18993043363946246, + "release_required_pad_clearance": 0.052547553386807694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.16312936153436045, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 298, + "max_placed_release_frames": 298 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3519325574541043, + 0.3447075339131406, + 1.16385982755216 + ], + "current_z": 1.16385982755216, + "required_z": 0.8611063292008319, + "initial_z": 0.7611063292008319, + "lift_margin": 0.30275349835132825, + "gripper_z": 1.1527878040227604, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3471611348666275, + 0.34000644529304624, + 1.1527878040227604 + ], + "object_minus_gripper": [ + 0.004771422587476815, + 0.004701088620094329, + 0.011072023529399733 + ], + "object_to_gripper_xy": 0.0066982615447789395, + "object_to_gripper_z": 0.011072023529399733, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3519325574541043, + 0.32086812916569346, + 1.16385982755216 + ], + "finger_b": [ + 0.3411471109807731, + 0.3447075339131406, + 1.16385982755216 + ], + "finger_midpoint": [ + 0.3465398342174387, + 0.33278783153941704, + 1.16385982755216 + ], + "object_minus_finger_midpoint": [ + 0.005392723236665564, + 0.011919702373723529, + 0.0 + ], + "finger_gap": 0.02616568505393459, + "fingertip_max_gap": 0.09054435215914527, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013082842526967259, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16385982755216, + "object_top_z": 1.213710674518295, + "finger_top_clearance": 0.049850846966134954, + "fingertip_min_top_clearance": 0.014955254089840485, + "object_projection_between_fingers": 0.8300927008705337, + "object_to_finger_line_xy": 0.009826558079013661, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04777217607957264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.38065177942441014, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3339419031324122, + -0.36442872354792955, + 0.8515395762759468 + ], + "target_position": [ + 0.327493929290207, + -0.36559609970197415, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006552795873121209, + "xy_threshold": 0.08, + "gripper_dist": 0.18283744816125097, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395762759468, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07570970518744777, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498257307981531, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1506191551320842, + "release_required_pad_clearance": 0.05249128653990766, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.05595290579419062, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00849926471710205, + "max_z_decrease": 0.00849926471710205, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035000331285464106, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00849926471710205, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021032586570619433, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00849926471710205, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008499628533456744, + "max_button_displacement": 0.12, + "button_start": [ + 0.18319386243820188, + -0.4218575656414032, + 0.7768088579177856 + ], + "button_final": [ + 0.18319386243820188, + -0.4218575656414032, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18325050053711228, + -0.4221594599408415, + 0.8033081885639993 + ], + "closest_button": [ + 0.18311794102191922, + -0.42183706164360046, + 0.7683095932006836 + ], + "closest_ee_minus_button": [ + 0.0001325595151930592, + -0.0003223982972410111, + 0.03499859536331573 + ], + "button_min_z_position": [ + 0.18311794102191922, + -0.42183706164360046, + 0.7683095932006836 + ], + "min_active_finger_to_button": 0.14580643944911686, + "closest_active_finger": [ + 0.04225649684667587, + -0.40762072801589966, + 0.8105933666229248 + ], + "closest_active_finger_button": [ + 0.18319937586784363, + -0.42186298966407776, + 0.7760711908340454 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14094287902116776, + 0.0142422616481781, + 0.034522175788879395 + ], + "min_contact_pad_to_button": 0.021032586570619433, + "closest_contact_pad": [ + 0.18311794102191922, + -0.42319433796127864, + 0.7892983401582337 + ], + "closest_contact_pad_button": [ + 0.18311794102191922, + -0.42183706164360046, + 0.7683095932006836 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00135727631767818, + 0.020988746957550153 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 40, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "aaa0229d3f463b559583176c902601bfc4db79ebb2c265c4037087d42dfd6fab", + "visual_seed": 502458259733679635, + "episode_index": 40, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_41_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_41_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e647899ef3e3cb909e8f5fc101961e358e7820ba --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_41_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 41, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20366466787350773, + -0.031150236183386366, + 0.9953559666988422 + ], + "current_z": 0.9953559666988422, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13876945929027662, + "gripper_z": 0.9984593618612564, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19899642427047728, + -0.03577036317321007, + 0.9984593618612564 + ], + "object_minus_gripper": [ + 0.0046682436030304475, + 0.004620126989823704, + -0.003103395162414202 + ], + "object_to_gripper_xy": 0.006567957958097185, + "object_to_gripper_z": -0.003103395162414202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20366466787350773, + -0.055257426558434734, + 0.9953559666988422 + ], + "finger_b": [ + 0.1922204968717834, + -0.031150236183386366, + 0.9953559666988422 + ], + "finger_midpoint": [ + 0.19794258237264556, + -0.04320383137091055, + 0.9953559666988422 + ], + "object_minus_finger_midpoint": [ + 0.005722085500862173, + 0.012053595187524184, + 0.0 + ], + "finger_gap": 0.026685683009725143, + "fingertip_max_gap": 0.09160850974517779, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013342841504862571, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9953559666988422, + "object_top_z": 1.0408352075167018, + "finger_top_clearance": 0.04547924081785959, + "fingertip_min_top_clearance": 0.013643772245357877, + "object_projection_between_fingers": 0.8160871682923589, + "object_to_finger_line_xy": 0.010338382904519808, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048304254872588895, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2687009316836315, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3414682509388408, + 0.3562360163496442, + 0.7611064484101214 + ], + "gripper_position": [ + 0.3331851947591006, + 0.3197210367702624, + 1.0156770377265132 + ], + "target_minus_gripper": [ + 0.008283056179740234, + 0.03651497957938177, + -0.25457058931639176 + ], + "held_position": [ + 0.33795663215195215, + 0.32412886214217074, + 1.0124245418430804 + ], + "held_minus_target": [ + -0.0035116187868886595, + -0.032107154207473454, + 0.25131809343295897 + ], + "held_minus_gripper": [ + 0.004771437392851574, + 0.004407825371908314, + -0.0032524958834327933 + ], + "xy_dist": 0.03744265953907922, + "held_xy_dist": 0.03229861944119144, + "held_gripper_dist": 0.0072645900624115165, + "max_held_gripper_dist": 0.007269007681355761, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101214, + "held_z": 1.0124245418430804, + "required_height": 0.7911064484101215, + "gripper_z": 1.0156770377265132, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2035429765706, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9290973268966924, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.271023113265211, + "max_source_tilt_deg": 89.85391584658473, + "source_upright_tilt_deg": 2.2010131273764193, + "max_source_upright_tilt_deg": 89.78924030510726, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.271023113265211, + "source_upright_return_tilt_deg": 2.2010131273764193, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.884864366154897e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3415, + 0.3562, + 0.7611 + ], + "controller_target_position": [ + 0.3415, + 0.3562, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.002, + 0.0002, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3395, + 0.3311, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0664, + 0.064, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019946252361072963, + 0.0002302888341498546, + -0.001686568112383501 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2010330445701847, + "source_return_step_error_deg": 2.2710368189384718, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2704126767942565, + "source_return_best_wrist_position": -1.612929105758667, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612929105758667 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3415, + 0.3562, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3415, + 0.3562, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.002, + 0.0002, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3395, + 0.3311, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0664, + 0.064, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019946252361072963, + 0.0002302888341498546, + -0.001686568112383501 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2010330445701847, + "pour_controller_source_return_step_error_deg": 2.2710368189384718, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2704126767942565, + "pour_controller_source_return_best_wrist_position": -1.612929105758667, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612929105758667, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03744265953907922, + "valid_pour_held_xy_dist": 0.03229861944119144, + "valid_pour_held_gripper_dist": 0.0072645900624115165, + "valid_pour_required_height": 0.7911064484101215, + "valid_pour_held_z": 1.0124245418430804, + "valid_pour_source_tilt_deg": 2.271023113265211, + "valid_pour_source_upright_tilt_deg": 2.2010131273764193, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33795663215195215, + 0.30036188560379995, + 1.0124245418430804 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32699498946810507, + 0.32412886214217074, + 1.0124245418430804 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33247581081002864, + 0.31224537387298534, + 1.0124245418430804 + ], + "valid_pour_held_grasp_object_position": [ + 0.33795663215195215, + 0.32412886214217074, + 1.0124245418430804 + ], + "valid_pour_held_grasp_finger_gap": 0.02617301633560423, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023803716040544747, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.004951232906317643, + -0.9992622476080921, + 0.03808471869308849 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005558006883729556, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03335264059150196, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33795663215195215, + 0.30036188560379995, + 1.0124245418430804 + ], + "held_grasp_finger_b": [ + 0.32699498946810507, + 0.32412886214217074, + 1.0124245418430804 + ], + "held_grasp_midpoint": [ + 0.33247581081002864, + 0.31224537387298534, + 1.0124245418430804 + ], + "held_grasp_object_position": [ + 0.33795663215195215, + 0.32412886214217074, + 1.0124245418430804 + ], + "held_grasp_finger_gap": 0.02617301633560423, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023803716040544747, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.004951232906317643, + -0.9992622476080921, + 0.03808471869308849 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005558006883729556, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03335264059150196, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18658727132240074, + -0.030143051379925977, + 0.756586305061 + ], + "target_position": [ + 0.18154662287629328, + -0.03262777266413321, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005619784392433403, + "xy_threshold": 0.08, + "gripper_dist": 0.21925814442882613, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586305061, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757392931886074, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867720304771863, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19014230368588936, + "release_required_pad_clearance": 0.053386015238593154, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7874486856833607, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3503808258174098, + 0.354066373652171, + 1.1627114844895297 + ], + "current_z": 1.1627114844895297, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30160509568405314, + "gripper_z": 1.1514572173060227, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34572578742613663, + 0.34942099290405065, + 1.1514572173060227 + ], + "object_minus_gripper": [ + 0.004655038391273181, + 0.00464538074812032, + 0.011254267183506972 + ], + "object_to_gripper_xy": 0.006576392986982614, + "object_to_gripper_z": 0.011254267183506972, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3503808258174098, + 0.3304398776645924, + 1.1627114844895297 + ], + "finger_b": [ + 0.33946252084427636, + 0.354066373652171, + 1.1627114844895297 + ], + "finger_midpoint": [ + 0.3449216733308431, + 0.3422531256583817, + 1.1627114844895297 + ], + "object_minus_finger_midpoint": [ + 0.0054591524865666985, + 0.0118132479937893, + 0.0 + ], + "finger_gap": 0.026027306739987877, + "fingertip_max_gap": 0.09095633398758188, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013013653369993926, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1627114844895297, + "object_top_z": 1.2128781831475597, + "finger_top_clearance": 0.05016669865803003, + "fingertip_min_top_clearance": 0.015050009597409007, + "object_projection_between_fingers": 0.8240245918583975, + "object_to_finger_line_xy": 0.009911178717641562, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797816699379094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.504865661583349, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33281597300918586, + -0.365364371257284, + 0.8515396099569071 + ], + "target_position": [ + 0.32709051210984674, + -0.36671551068623776, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005882727281315581, + "xy_threshold": 0.08, + "gripper_dist": 0.18134532624632838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396099569071, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535909930226269, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08767007206174508, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15000692258146958, + "release_required_pad_clearance": 0.05383503603087254, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6793817583953334, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008692026138305664, + "max_z_decrease": 0.008692026138305664, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501032408290792, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008692026138305664, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020908427621018983, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008692026138305664, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008692215008290432, + "max_button_displacement": 0.12, + "button_start": [ + 0.18279044330120084, + -0.4229769706726074, + 0.7768088579177856 + ], + "button_final": [ + 0.18279044330120084, + -0.4229769706726074, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18100607781151384, + -0.4225025153121041, + 0.8032422425015273 + ], + "closest_button": [ + 0.18272881209850306, + -0.42296645045280457, + 0.7682774066925049 + ], + "closest_ee_minus_button": [ + -0.0017227342869892137, + 0.0004639351407004777, + 0.03496483580902243 + ], + "button_min_z_position": [ + 0.18274369835853574, + -0.4229438304901123, + 0.76811683177948 + ], + "min_active_finger_to_button": 0.1472206436067632, + "closest_active_finger": [ + 0.054911382496356964, + -0.487336128950119, + 0.8110855221748352 + ], + "closest_active_finger_button": [ + 0.1827951371669769, + -0.4229815602302551, + 0.7767612934112549 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12788375467061994, + -0.06435456871986389, + 0.03432422876358032 + ], + "min_contact_pad_to_button": 0.020908427621018983, + "closest_contact_pad": [ + 0.18274369835853574, + -0.42346453069390705, + 0.7890187746767601 + ], + "closest_contact_pad_button": [ + 0.18274369835853574, + -0.4229438304901123, + 0.76811683177948 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005207002037947439, + 0.02090194289728009 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 41, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "45c6d8dcd17bed66b2049661ea0f20ce879bbc361ac8d8102f69b7d035492da8", + "visual_seed": 6429907582656723398, + "episode_index": 41, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_42_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_42_success.json new file mode 100644 index 0000000000000000000000000000000000000000..03966288c9ff20562d73d5c032088aba746433d5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_42_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 42, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1996745468604581, + -0.028527023658341172, + 0.9958955430601154 + ], + "current_z": 0.9958955430601154, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.13930903565154973, + "gripper_z": 0.9988502813388389, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19501420991458923, + -0.033095530495408046, + 0.9988502813388389 + ], + "object_minus_gripper": [ + 0.00466033694586887, + 0.004568506837066874, + -0.002954738278723501 + ], + "object_to_gripper_xy": 0.006526101069502154, + "object_to_gripper_z": -0.002954738278723501, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1996745468604581, + -0.052715330356014764, + 0.9958955430601154 + ], + "finger_b": [ + 0.1884088279131244, + -0.028527023658341172, + 0.9958955430601154 + ], + "finger_midpoint": [ + 0.19404168738679126, + -0.04062117700717797, + 0.9958955430601154 + ], + "object_minus_finger_midpoint": [ + 0.005632859473666846, + 0.012094153348836796, + 0.0 + ], + "finger_gap": 0.02668315206831896, + "fingertip_max_gap": 0.09170373292502718, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334157603415948, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9958955430601154, + "object_top_z": 1.041364886768772, + "finger_top_clearance": 0.04546934370865652, + "fingertip_min_top_clearance": 0.013640803112596954, + "object_projection_between_fingers": 0.8217442440481249, + "object_to_finger_line_xy": 0.010212386616476212, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835186646251359, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3724070292585848, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33713779468197436, + 0.35798672397598696, + 0.7611062695961867 + ], + "gripper_position": [ + 0.3298935200955787, + 0.32305956485781323, + 1.0161707573427476 + ], + "target_minus_gripper": [ + 0.007244274586395649, + 0.034927159118173734, + -0.255064487746561 + ], + "held_position": [ + 0.3345650550374311, + 0.3275206761210193, + 1.0130714673005428 + ], + "held_minus_target": [ + -0.0025727396445432427, + -0.03046604785496765, + 0.2519651977043561 + ], + "held_minus_gripper": [ + 0.004671534941852407, + 0.004461111263206086, + -0.003099290042204883 + ], + "xy_dist": 0.03567051945723982, + "held_xy_dist": 0.030574483825238707, + "held_gripper_dist": 0.0071645203036464706, + "max_held_gripper_dist": 0.007170335447740024, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961867, + "held_z": 1.0130714673005428, + "required_height": 0.7911062695961867, + "gripper_z": 1.0161707573427476, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2007630895784, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.395812623369976, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1703044150140287, + "max_source_tilt_deg": 89.90384183663046, + "source_upright_tilt_deg": 2.669146529948803, + "max_source_upright_tilt_deg": 89.99074416517713, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1703044150140287, + "source_upright_return_tilt_deg": 2.669146529948803, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3371, + 0.358, + 0.7611 + ], + "controller_target_position": [ + 0.3371, + 0.358, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0019, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3365, + 0.3345, + 1.025 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0654, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000664534264858943, + 0.0018663965799256147, + -0.0014447795942395913 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.6691611025783875, + "source_return_step_error_deg": 2.1703204873930417, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.677803193850809, + "source_return_best_wrist_position": -1.6127078533172607, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127078533172607 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3371, + 0.358, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3371, + 0.358, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0019, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3365, + 0.3345, + 1.025 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0654, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000664534264858943, + 0.0018663965799256147, + -0.0014447795942395913 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.6691611025783875, + "pour_controller_source_return_step_error_deg": 2.1703204873930417, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.677803193850809, + "pour_controller_source_return_best_wrist_position": -1.6127078533172607, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127078533172607, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03567051945723982, + "valid_pour_held_xy_dist": 0.030574483825238707, + "valid_pour_held_gripper_dist": 0.0071645203036464706, + "valid_pour_required_height": 0.7911062695961867, + "valid_pour_held_z": 1.0130714673005428, + "valid_pour_source_tilt_deg": 2.1703044150140287, + "valid_pour_source_upright_tilt_deg": 2.669146529948803, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3345650550374311, + 0.3039877641843056, + 1.0130714673005428 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32331663493447216, + 0.3275206761210193, + 1.0130714673005428 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32894084498595166, + 0.31575422015266247, + 1.0130714673005428 + ], + "valid_pour_held_grasp_object_position": [ + 0.3345650550374311, + 0.3275206761210193, + 1.0130714673005428 + ], + "valid_pour_held_grasp_finger_gap": 0.0260830385314628, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023814219476160203, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.027278340763220686, + -0.9989151067560814, + 0.03774257039063955 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00595944006184909, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03359995346434705, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3345650550374311, + 0.3039877641843056, + 1.0130714673005428 + ], + "held_grasp_finger_b": [ + 0.32331663493447216, + 0.3275206761210193, + 1.0130714673005428 + ], + "held_grasp_midpoint": [ + 0.32894084498595166, + 0.31575422015266247, + 1.0130714673005428 + ], + "held_grasp_object_position": [ + 0.3345650550374311, + 0.3275206761210193, + 1.0130714673005428 + ], + "held_grasp_finger_gap": 0.0260830385314628, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023814219476160203, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.027278340763220686, + -0.9989151067560814, + 0.03774257039063955 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00595944006184909, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03359995346434705, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1904840300464723, + -0.02632011766837325, + 0.7565863010752693 + ], + "target_position": [ + 0.17744539835127215, + -0.03165009674456764, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014085971511959967, + "xy_threshold": 0.08, + "gripper_dist": 0.22524201891983164, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863010752693, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07596016578967764, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08853911707198454, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19561339243703274, + "release_required_pad_clearance": 0.054269558535992274, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5581056954639947, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34613620895005515, + 0.35505247161741016, + 1.164351559596836 + ], + "current_z": 1.164351559596836, + "required_z": 0.8611062695961866, + "initial_z": 0.7611062695961867, + "lift_margin": 0.30324529000064926, + "gripper_z": 1.1530885206799564, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34133340087116515, + 0.3502862167528453, + 1.1530885206799564 + ], + "object_minus_gripper": [ + 0.004802808078889997, + 0.004766254864564834, + 0.01126303891687952 + ], + "object_to_gripper_xy": 0.006766398663738265, + "object_to_gripper_z": 0.01126303891687952, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34613620895005515, + 0.3309975618380132, + 1.164351559596836 + ], + "finger_b": [ + 0.3354854095862909, + 0.35505247161741016, + 1.164351559596836 + ], + "finger_midpoint": [ + 0.34081080926817303, + 0.3430250167277117, + 1.164351559596836 + ], + "object_minus_finger_midpoint": [ + 0.005325399681882115, + 0.012027454889698475, + 0.0 + ], + "finger_gap": 0.02630737941304849, + "fingertip_max_gap": 0.09033248907991939, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013153689706524245, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164351559596836, + "object_top_z": 1.2144980953216722, + "finger_top_clearance": 0.050146535724836294, + "fingertip_min_top_clearance": 0.01504396071745092, + "object_projection_between_fingers": 0.8360885732440004, + "object_to_finger_line_xy": 0.009738865044335413, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0476662445399597, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4916665286320477, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 384, + "max_stable_success_frames": 384, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3343856065807673, + -0.36820575972534375, + 0.8515395857390695 + ], + "target_position": [ + 0.32820052457592813, + -0.3692576545966562, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00627389211151093, + "xy_threshold": 0.08, + "gripper_dist": 0.18223744343328965, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395857390695, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564524716015725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08665606758134319, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1499962959671766, + "release_required_pad_clearance": 0.053328033790671595, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6734652837885504, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008639931678771973, + "max_z_decrease": 0.008639931678771973, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502838644832094, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008639931678771973, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021133475000390294, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008639931678771973, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008640127436904961, + "max_button_displacement": 0.12, + "button_start": [ + 0.18390044569969177, + -0.4255191087722779, + 0.7768088579177856 + ], + "button_final": [ + 0.18390044569969177, + -0.4255191087722779, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18295568654575375, + -0.42716749536334436, + 0.8035160485724308 + ], + "closest_button": [ + 0.18382398784160608, + -0.425499439239502, + 0.7685381770133972 + ], + "closest_ee_minus_button": [ + -0.0008683012958523306, + -0.0016680561238423541, + 0.034977871559033535 + ], + "button_min_z_position": [ + 0.1838511377573013, + -0.4254882633686066, + 0.7681689262390137 + ], + "min_active_finger_to_button": 0.14663375850663574, + "closest_active_finger": [ + 0.04200107604265213, + -0.4123774766921997, + 0.809719979763031 + ], + "closest_active_finger_button": [ + 0.18390645086765287, + -0.4255263507366181, + 0.7752028703689575 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14190537482500074, + 0.01314887404441839, + 0.034517109394073486 + ], + "min_contact_pad_to_button": 0.021133475000390294, + "closest_contact_pad": [ + 0.1838511377573013, + -0.4282161535379965, + 0.78912560490754 + ], + "closest_contact_pad_button": [ + 0.1838511377573013, + -0.4254882633686066, + 0.7681689262390137 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0027278901693899016, + 0.020956678668526352 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 42, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1e0095857bd1035489be9dfcc143ec28d545faac04ac78a17437f9699ddd0473", + "visual_seed": 7511647115949163361, + "episode_index": 42, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_43_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_43_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f20e6fd6b0290a964be92dea887d1ad34752dad3 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_43_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 43, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2049602469838026, + -0.030020742071435236, + 0.9962431726332939 + ], + "current_z": 0.9962431726332939, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13965660562008353, + "gripper_z": 0.9992542599024351, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20038761302480695, + -0.03456758098131729, + 0.9992542599024351 + ], + "object_minus_gripper": [ + 0.004572633958995653, + 0.004546838909882056, + -0.0030110872691412327 + ], + "object_to_gripper_xy": 0.006448466902712435, + "object_to_gripper_z": -0.0030110872691412327, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2049602469838026, + -0.0540811884295241, + 0.9962431726332939 + ], + "finger_b": [ + 0.19371182919416774, + -0.030020742071435236, + 0.9962431726332939 + ], + "finger_midpoint": [ + 0.19933603808898517, + -0.04205096525047967, + 0.9962431726332939 + ], + "object_minus_finger_midpoint": [ + 0.005624208894817434, + 0.012030223179044432, + 0.0 + ], + "finger_gap": 0.026559969535386252, + "fingertip_max_gap": 0.09208841494549286, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013279984767693126, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9962431726332939, + "object_top_z": 1.0418625153701724, + "finger_top_clearance": 0.04561934273687851, + "fingertip_min_top_clearance": 0.01368580282106357, + "object_projection_between_fingers": 0.8206391175212135, + "object_to_finger_line_xy": 0.01018984424964426, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854420747274643, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4987838018505157, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3417489292110881, + 0.35038087327942313, + 0.7611064484101212 + ], + "gripper_position": [ + 0.33520919919772796, + 0.3147343254401098, + 1.016669222381112 + ], + "target_minus_gripper": [ + 0.006539730013360168, + 0.035646547839313314, + -0.2555627739709908 + ], + "held_position": [ + 0.3398555319375822, + 0.31909203624599103, + 1.0134943963311556 + ], + "held_minus_target": [ + -0.0018933972735059035, + -0.031288837033432104, + 0.25238794792103436 + ], + "held_minus_gripper": [ + 0.004646332739854264, + 0.00435771080588121, + -0.0031748260499564473 + ], + "xy_dist": 0.03624147405263887, + "held_xy_dist": 0.03134607273870192, + "held_gripper_dist": 0.007117413283252389, + "max_held_gripper_dist": 0.007122321879831618, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0134943963311556, + "required_height": 0.7911064484101212, + "gripper_z": 1.016669222381112, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20100214619936, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2764267638589681, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2224220626903524, + "max_source_tilt_deg": 89.95725578979405, + "source_upright_tilt_deg": 2.2939615995320555, + "max_source_upright_tilt_deg": 89.69289439781889, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2224220626903524, + "source_upright_return_tilt_deg": 2.2939615995320555, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3417, + 0.3504, + 0.7611 + ], + "controller_target_position": [ + 0.3417, + 0.3504, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0008, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.3432, + 0.3242, + 1.0265 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0645, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014949424322823891, + -0.000812492875355579, + -3.034986360545694e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2939808220798703, + "source_return_step_error_deg": 2.222415654249235, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2938912619512895, + "source_return_best_wrist_position": -1.6127235889434814, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127235889434814 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3417, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3417, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0008, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3432, + 0.3242, + 1.0265 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0645, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014949424322823891, + -0.000812492875355579, + -3.034986360545694e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2939808220798703, + "pour_controller_source_return_step_error_deg": 2.222415654249235, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2938912619512895, + "pour_controller_source_return_best_wrist_position": -1.6127235889434814, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127235889434814, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03624147405263887, + "valid_pour_held_xy_dist": 0.03134607273870192, + "valid_pour_held_gripper_dist": 0.007117413283252389, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0134943963311556, + "valid_pour_source_tilt_deg": 2.2224220626903524, + "valid_pour_source_upright_tilt_deg": 2.2939615995320555, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3398555319375822, + 0.2954202500876768, + 1.0134943963311556 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32895665389861184, + 0.31909203624599103, + 1.0134943963311556 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33440609291809703, + 0.3072561431668339, + 1.0134943963311556 + ], + "valid_pour_held_grasp_object_position": [ + 0.3398555319375822, + 0.31909203624599103, + 1.0134943963311556 + ], + "valid_pour_held_grasp_finger_gap": 0.0260602955169988, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02379883290438737, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013397399820647199, + -0.9991986290986011, + 0.037717493096993786 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005625152722375538, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033446825140301645, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3398555319375822, + 0.2954202500876768, + 1.0134943963311556 + ], + "held_grasp_finger_b": [ + 0.32895665389861184, + 0.31909203624599103, + 1.0134943963311556 + ], + "held_grasp_midpoint": [ + 0.33440609291809703, + 0.3072561431668339, + 1.0134943963311556 + ], + "held_grasp_object_position": [ + 0.3398555319375822, + 0.31909203624599103, + 1.0134943963311556 + ], + "held_grasp_finger_gap": 0.0260602955169988, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02379883290438737, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013397399820647199, + -0.9991986290986011, + 0.037717493096993786 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005625152722375538, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033446825140301645, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.190647896946445, + -0.03303213566162985, + 0.7565863638216421 + ], + "target_position": [ + 0.1842944733724068, + -0.029899497132621494, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00708374302643539, + "xy_threshold": 0.08, + "gripper_dist": 0.22034742375382171, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863638216421, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.075327473013305, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08641695109976504, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19056976200269593, + "release_required_pad_clearance": 0.05320847554988252, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4390982756823676, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35056902681876456, + 0.3473356522432035, + 1.1623303950433264 + ], + "current_z": 1.1623303950433264, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3012239466332052, + "gripper_z": 1.1511514330822055, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34588378222008903, + 0.34270836756127554, + 1.1511514330822055 + ], + "object_minus_gripper": [ + 0.004685244598675531, + 0.004627284681927968, + 0.011178961961120892 + ], + "object_to_gripper_xy": 0.006585080142034981, + "object_to_gripper_z": 0.011178961961120892, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35056902681876456, + 0.3235387204493528, + 1.1623303950433264 + ], + "finger_b": [ + 0.33989371144971486, + 0.3473356522432035, + 1.1623303950433264 + ], + "finger_midpoint": [ + 0.3452313691342397, + 0.33543718634627817, + 1.1623303950433264 + ], + "object_minus_finger_midpoint": [ + 0.005337657684524877, + 0.011898465896925337, + 0.0 + ], + "finger_gap": 0.026081723889149897, + "fingertip_max_gap": 0.09089758888069491, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013040861944574933, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1623303950433264, + "object_top_z": 1.2123368614204149, + "finger_top_clearance": 0.0500064663770885, + "fingertip_min_top_clearance": 0.015001939913126549, + "object_projection_between_fingers": 0.8324714453867345, + "object_to_finger_line_xy": 0.009740144201925358, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047948794440347456, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5861138086972701, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3352390791883154, + -0.36766164435599547, + 0.8515396100528425 + ], + "target_position": [ + 0.3292754033243398, + -0.3691135511669349, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006137871226917163, + "xy_threshold": 0.08, + "gripper_dist": 0.1834075198818874, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396100528425, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07534662022946938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08569801756514976, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.152056176518221, + "release_required_pad_clearance": 0.05284900878257488, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7412453676077049, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00842595100402832, + "max_z_decrease": 0.00842595100402832, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03507071113013965, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00842595100402832, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021027977556089983, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00842595100402832, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008426437077844445, + "max_button_displacement": 0.12, + "button_start": [ + 0.18497532606124878, + -0.4253750145435333, + 0.7768088579177856 + ], + "button_final": [ + 0.18497532606124878, + -0.4253750145435333, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18334727356417843, + -0.4233506104424783, + 0.8041466534347725 + ], + "closest_button": [ + 0.1848870813846588, + -0.42537951469421387, + 0.7691685557365417 + ], + "closest_ee_minus_button": [ + -0.0015398078204803822, + 0.002028904251735575, + 0.03497809769823079 + ], + "button_min_z_position": [ + 0.18488503992557526, + -0.4253686964511871, + 0.7683829069137573 + ], + "min_active_finger_to_button": 0.14652690452622547, + "closest_active_finger": [ + 0.056423112750053406, + -0.48660808801651, + 0.8106427788734436 + ], + "closest_active_finger_button": [ + 0.1849791556596756, + -0.4253813326358795, + 0.7760774493217468 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1285560429096222, + -0.06122675538063049, + 0.03456532955169678 + ], + "min_contact_pad_to_button": 0.021027977556089983, + "closest_contact_pad": [ + 0.18488503992557526, + -0.4253686964511871, + 0.7894108844698473 + ], + "closest_contact_pad_button": [ + 0.18488503992557526, + -0.4253686964511871, + 0.7683829069137573 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021027977556089983 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 43, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3e0f5d0763b525518077a9ad9ad7f0142343593b05542de0ea46e3257dd7c9b2", + "visual_seed": 2402012817301065352, + "episode_index": 43, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_44_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_44_success.json new file mode 100644 index 0000000000000000000000000000000000000000..97e4cbc37b7340f301e040c0173861fef01470b9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_44_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 44, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2016955884926841, + -0.03044756825697987, + 0.9958309940217165 + ], + "current_z": 0.9958309940217165, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1392445462177957, + "gripper_z": 0.9990067720527186, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19701284430153887, + -0.03511340772161724, + 0.9990067720527186 + ], + "object_minus_gripper": [ + 0.004682744191145227, + 0.004665839464637368, + -0.0031757780310021078 + ], + "object_to_gripper_xy": 0.006610457704990773, + "object_to_gripper_z": -0.0031757780310021078, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2016955884926841, + -0.05452902578052503, + 0.9958309940217165 + ], + "finger_b": [ + 0.1900576000339057, + -0.03044756825697987, + 0.9958309940217165 + ], + "finger_midpoint": [ + 0.1958765942632949, + -0.04248829701875245, + 0.9958309940217165 + ], + "object_minus_finger_midpoint": [ + 0.005818994229389196, + 0.012040728761772583, + 0.0 + ], + "finger_gap": 0.02674620294219291, + "fingertip_max_gap": 0.09128806075617088, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337310147109646, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9958309940217165, + "object_top_z": 1.0411399085245165, + "finger_top_clearance": 0.04530891450280006, + "fingertip_min_top_clearance": 0.01359267435084, + "object_projection_between_fingers": 0.8106647082554772, + "object_to_finger_line_xy": 0.010478486435450716, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814403037808544, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2785926112902344, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34035862106937975, + 0.35373029668793154, + 0.7611065676194108 + ], + "gripper_position": [ + 0.33336975194104557, + 0.31823971424327724, + 1.017462060776168 + ], + "target_minus_gripper": [ + 0.006988869128334185, + 0.035490582444654306, + -0.2563554931567572 + ], + "held_position": [ + 0.33812858888724606, + 0.3227430839108649, + 1.014166749916598 + ], + "held_minus_target": [ + -0.00223003218213369, + -0.03098721277706662, + 0.2530601822971873 + ], + "held_minus_gripper": [ + 0.004758836946200495, + 0.004503369667587687, + -0.003295310859569911 + ], + "xy_dist": 0.03617216794655508, + "held_xy_dist": 0.031067352626584593, + "held_gripper_dist": 0.007333889902682687, + "max_held_gripper_dist": 0.007338553626281503, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065676194108, + "held_z": 1.014166749916598, + "required_height": 0.7911065676194108, + "gripper_z": 1.017462060776168, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19709527799411, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6842158035196418, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1476726054463566, + "max_source_tilt_deg": 89.98530914532611, + "source_upright_tilt_deg": 2.2802738015834896, + "max_source_upright_tilt_deg": 89.76724680592328, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1476726054463566, + "source_upright_return_tilt_deg": 2.2802738015834896, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3404, + 0.3537, + 0.7611 + ], + "controller_target_position": [ + 0.3404, + 0.3537, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + -0.0008, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3403, + 0.3276, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0645, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.072062636022945e-05, + -0.0007513070228442841, + 0.0017687767860417032 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.280291290023835, + "source_return_step_error_deg": 2.147682651477664, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.282729073890373, + "source_return_best_wrist_position": -1.6125720739364624, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125720739364624 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3404, + 0.3537, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3404, + 0.3537, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + -0.0008, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3403, + 0.3276, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0645, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -3.072062636022945e-05, + -0.0007513070228442841, + 0.0017687767860417032 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.280291290023835, + "pour_controller_source_return_step_error_deg": 2.147682651477664, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.282729073890373, + "pour_controller_source_return_best_wrist_position": -1.6125720739364624, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125720739364624, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03617216794655508, + "valid_pour_held_xy_dist": 0.031067352626584593, + "valid_pour_held_gripper_dist": 0.007333889902682687, + "valid_pour_required_height": 0.7911065676194108, + "valid_pour_held_z": 1.014166749916598, + "valid_pour_source_tilt_deg": 2.1476726054463566, + "valid_pour_source_upright_tilt_deg": 2.2802738015834896, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33812858888724606, + 0.2991555970336887, + 1.014166749916598 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32680587523579785, + 0.3227430839108649, + 1.014166749916598 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33246723206152196, + 0.31094934047227685, + 1.014166749916598 + ], + "valid_pour_held_grasp_object_position": [ + 0.33812858888724606, + 0.3227430839108649, + 1.014166749916598 + ], + "valid_pour_held_grasp_finger_gap": 0.026164353261902955, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023732397459221094, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014447776454355705, + -0.9992081626268546, + 0.037071680503995 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005847413817237076, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03349761427189303, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33812858888724606, + 0.2991555970336887, + 1.014166749916598 + ], + "held_grasp_finger_b": [ + 0.32680587523579785, + 0.3227430839108649, + 1.014166749916598 + ], + "held_grasp_midpoint": [ + 0.33246723206152196, + 0.31094934047227685, + 1.014166749916598 + ], + "held_grasp_object_position": [ + 0.33812858888724606, + 0.3227430839108649, + 1.014166749916598 + ], + "held_grasp_finger_gap": 0.026164353261902955, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023732397459221094, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014447776454355705, + -0.9992081626268546, + 0.037071680503995 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005847413817237076, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03349761427189303, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17464677316939944, + -0.03099728100283236, + 0.7565864042344882 + ], + "target_position": [ + 0.17747540442911774, + -0.03505470147412705, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004946090949865031, + "xy_threshold": 0.08, + "gripper_dist": 0.2156184707780078, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864042344882, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0754639757356429, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08795463789055587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18792894277068783, + "release_required_pad_clearance": 0.053977318945277936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.965323006009544, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 295, + "max_placed_release_frames": 295 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3494150242610061, + 0.35117507660707153, + 1.1650476207285962 + ], + "current_z": 1.1650476207285962, + "required_z": 0.8611066868287002, + "initial_z": 0.7611066868287002, + "lift_margin": 0.30394093389989607, + "gripper_z": 1.15373992983425, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3445941448862623, + 0.34637773145919365, + 1.15373992983425 + ], + "object_minus_gripper": [ + 0.004820879374743847, + 0.004797345147877885, + 0.011307690894346134 + ], + "object_to_gripper_xy": 0.00680113214205533, + "object_to_gripper_z": 0.011307690894346134, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3494150242610061, + 0.32711865325315104, + 1.1650476207285962 + ], + "finger_b": [ + 0.3387009161869451, + 0.35117507660707153, + 1.1650476207285962 + ], + "finger_midpoint": [ + 0.3440579702239756, + 0.33914686493011126, + 1.1650476207285962 + ], + "object_minus_finger_midpoint": [ + 0.0053570540370305175, + 0.012028211676960276, + 0.0 + ], + "finger_gap": 0.026334456827618667, + "fingertip_max_gap": 0.09031096558840981, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013167228413809358, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650476207285962, + "object_top_z": 1.215103942066349, + "finger_top_clearance": 0.05005632133775273, + "fingertip_min_top_clearance": 0.015016896401325818, + "object_projection_between_fingers": 0.8344751071124847, + "object_to_finger_line_xy": 0.009787295837404838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765548279420491, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5215094441697475, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3307948173965892, + -0.3644808773232988, + 0.8515396287423049 + ], + "target_position": [ + 0.32418968687989524, + -0.3656835295209413, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006713726346155045, + "xy_threshold": 0.08, + "gripper_dist": 0.18515885849757735, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396287423049, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07545472317078784, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15332680579910477, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00865548849105835, + "max_z_decrease": 0.00865548849105835, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499029450905423, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00865548849105835, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02107845086049591, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00865548849105835, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008655829167083627, + "max_button_displacement": 0.12, + "button_start": [ + 0.1798896193504333, + -0.42194497585296625, + 0.7768088579177856 + ], + "button_final": [ + 0.1798896193504333, + -0.42194497585296625, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17995032704818328, + -0.4217364236253142, + 0.8031430756650649 + ], + "closest_button": [ + 0.179828405380249, + -0.421898603439331, + 0.7681533694267273 + ], + "closest_ee_minus_button": [ + 0.00012192166793428827, + 0.00016217981401678294, + 0.03498970623833764 + ], + "button_min_z_position": [ + 0.179828405380249, + -0.421898603439331, + 0.7681533694267273 + ], + "min_active_finger_to_button": 0.14580006066920134, + "closest_active_finger": [ + 0.0526750311255455, + -0.48420727252960205, + 0.8077857494354248 + ], + "closest_active_finger_button": [ + 0.17990389466285703, + -0.4219530820846557, + 0.77321857213974 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12722886353731153, + -0.062254190444946345, + 0.034567177295684814 + ], + "min_contact_pad_to_button": 0.02107845086049591, + "closest_contact_pad": [ + 0.179828405380249, + -0.42296968836453236, + 0.7892045895282166 + ], + "closest_contact_pad_button": [ + 0.179828405380249, + -0.421898603439331, + 0.7681533694267273 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00107108492520136, + 0.0210512201014893 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 44, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "381feabb9538a725aa09fbecf7f5ad0d757c7bf37621a9597b0e64ad3dcf3b33", + "visual_seed": 5807250820862026727, + "episode_index": 44, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_45_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_45_success.json new file mode 100644 index 0000000000000000000000000000000000000000..a94722bb8a7555ad4a79be3de9cd6329a0006c55 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_45_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 45, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20286064321897082, + -0.034221274126612945, + 0.9982913381084595 + ], + "current_z": 0.9982913381084595, + "required_z": 0.8565865670132101, + "initial_z": 0.7565865670132101, + "lift_margin": 0.14170477109524937, + "gripper_z": 1.0013276661867037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19812282441314286, + -0.038745032672151195, + 1.0013276661867037 + ], + "object_minus_gripper": [ + 0.004737818805827965, + 0.004523758545538249, + -0.003036328078244166 + ], + "object_to_gripper_xy": 0.006550673126876921, + "object_to_gripper_z": -0.003036328078244166, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20286064321897082, + -0.058579337885754625, + 0.9982913381084595 + ], + "finger_b": [ + 0.1918869976468317, + -0.034221274126612945, + 0.9982913381084595 + ], + "finger_midpoint": [ + 0.19737382043290125, + -0.046400306006183785, + 0.9982913381084595 + ], + "object_minus_finger_midpoint": [ + 0.005486822786069573, + 0.01217903187957084, + 0.0 + ], + "finger_gap": 0.026715841129137965, + "fingertip_max_gap": 0.09200930058168247, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01335792056456899, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9982913381084595, + "object_top_z": 1.0438981900229505, + "finger_top_clearance": 0.04560685191449099, + "fingertip_min_top_clearance": 0.013682055574347313, + "object_projection_between_fingers": 0.8312809373118335, + "object_to_finger_line_xy": 0.010005178471616857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048504650290841236, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3881080800263796, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34313959498066504, + 0.3560766335295148, + 0.7611066272240554 + ], + "gripper_position": [ + 0.33625009225443336, + 0.32087129965192684, + 1.0165817983527725 + ], + "target_minus_gripper": [ + 0.006889502726231678, + 0.03520533387758795, + -0.2554751711287171 + ], + "held_position": [ + 0.3409764653011389, + 0.3252912439783706, + 1.0133777836754405 + ], + "held_minus_target": [ + -0.0021631296795261434, + -0.030785389551144182, + 0.2522711564513851 + ], + "held_minus_gripper": [ + 0.004726373046705534, + 0.00441994432644377, + -0.003204014677332001 + ], + "xy_dist": 0.03587312059533148, + "held_xy_dist": 0.03086129193384723, + "held_gripper_dist": 0.007220818518564631, + "max_held_gripper_dist": 0.007225631121968244, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240554, + "held_z": 1.0133777836754405, + "required_height": 0.7911066272240554, + "gripper_z": 1.0165817983527725, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20298973124783, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.06322923693219, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2083974009641856, + "max_source_tilt_deg": 89.82191001343658, + "source_upright_tilt_deg": 2.829248699131764, + "max_source_upright_tilt_deg": 89.8307589710181, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2083974009641856, + "source_upright_return_tilt_deg": 2.829248699131764, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "controller_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0003, + 0.0006, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3435, + 0.3312, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003412477399890902, + 0.0005603875535427883, + -0.00029645414434231396 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8295286674094426, + "source_return_step_error_deg": 2.208608394196859, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8292645260250144, + "source_return_best_wrist_position": -1.612876296043396, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612876296043396 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3431, + 0.3561, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0003, + 0.0006, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3435, + 0.3312, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0657, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0003412477399890902, + 0.0005603875535427883, + -0.00029645414434231396 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8295286674094426, + "pour_controller_source_return_step_error_deg": 2.208608394196859, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8292645260250144, + "pour_controller_source_return_best_wrist_position": -1.612876296043396, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612876296043396, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03587312059533148, + "valid_pour_held_xy_dist": 0.03086129193384723, + "valid_pour_held_gripper_dist": 0.007220818518564631, + "valid_pour_required_height": 0.7911066272240554, + "valid_pour_held_z": 1.0133777836754405, + "valid_pour_source_tilt_deg": 2.2083974009641856, + "valid_pour_source_upright_tilt_deg": 2.829248699131764, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3409764653011389, + 0.30162681363172705, + 1.0133777836754405 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3299095095484752, + 0.3252912439783706, + 1.0133777836754405 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33544298742480705, + 0.31345902880504883, + 1.0133777836754405 + ], + "valid_pour_held_grasp_object_position": [ + 0.3409764653011389, + 0.3252912439783706, + 1.0133777836754405 + ], + "valid_pour_held_grasp_finger_gap": 0.026124371251047572, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023972201778102213, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.030416356257142233, + -0.9987810804243387, + 0.038874138684084625 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005908485936282624, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033550740545614716, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3409764653011389, + 0.30162681363172705, + 1.0133777836754405 + ], + "held_grasp_finger_b": [ + 0.3299095095484752, + 0.3252912439783706, + 1.0133777836754405 + ], + "held_grasp_midpoint": [ + 0.33544298742480705, + 0.31345902880504883, + 1.0133777836754405 + ], + "held_grasp_object_position": [ + 0.3409764653011389, + 0.3252912439783706, + 1.0133777836754405 + ], + "held_grasp_finger_gap": 0.026124371251047572, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023972201778102213, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.030416356257142233, + -0.9987810804243387, + 0.038874138684084625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005908485936282624, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033550740545614716, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1877337069152289, + -0.03447228095956884, + 0.7565866653223594 + ], + "target_position": [ + 0.18235923028821385, + -0.036120874144849005, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005621641975871743, + "xy_threshold": 0.08, + "gripper_dist": 0.21929045073639805, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866653223594, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07522949598713541, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08800473684913317, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19106563692581807, + "release_required_pad_clearance": 0.054002368424566585, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0142819314371434, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35190594133906156, + 0.3525221283984038, + 1.1652848680218915 + ], + "current_z": 1.1652848680218915, + "required_z": 0.8611066272240554, + "initial_z": 0.7611066272240554, + "lift_margin": 0.30417824079783606, + "gripper_z": 1.1541620179169447, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34714498928104803, + 0.3479461553352913, + 1.1541620179169447 + ], + "object_minus_gripper": [ + 0.004760952058013523, + 0.004575973063112526, + 0.011122850104946735 + ], + "object_to_gripper_xy": 0.006603498616115145, + "object_to_gripper_z": 0.011122850104946735, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35190594133906156, + 0.3285372626885282, + 1.1652848680218915 + ], + "finger_b": [ + 0.3414948522576743, + 0.3525221283984038, + 1.1652848680218915 + ], + "finger_midpoint": [ + 0.34670039679836795, + 0.340529695543466, + 1.1652848680218915 + ], + "object_minus_finger_midpoint": [ + 0.005205544540693607, + 0.011992432854937785, + 0.0 + ], + "finger_gap": 0.0261469799208503, + "fingertip_max_gap": 0.09070758257577108, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013073489960425113, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652848680218915, + "object_top_z": 1.215160490596325, + "finger_top_clearance": 0.049875622574433454, + "fingertip_min_top_clearance": 0.014962686772330069, + "object_projection_between_fingers": 0.8414562018220133, + "object_to_finger_line_xy": 0.009550187986012941, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04785379128788554, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3885876314715829, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 379, + "max_stable_success_frames": 379, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33374057999056983, + -0.36754343555418295, + 0.8515395897950159 + ], + "target_position": [ + 0.3259969730497806, + -0.3691401162389035, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007906506033792615, + "xy_threshold": 0.08, + "gripper_dist": 0.1832603011252633, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395897950159, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535878283015239, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08640345683646276, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15179197404437747, + "release_required_pad_clearance": 0.053201728418231384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.425985322237643, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008495867252349854, + "max_z_decrease": 0.008495867252349854, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350194057237184, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008495867252349854, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021195506461643598, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008495867252349854, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008496107901644233, + "max_button_displacement": 0.12, + "button_start": [ + 0.18169689178466786, + -0.4254015684127808, + 0.7768088579177856 + ], + "button_final": [ + 0.18169689178466786, + -0.4254015684127808, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1801638799777387, + -0.42640365308527023, + 0.8040618082869032 + ], + "closest_button": [ + 0.1816061884164809, + -0.42538878321647644, + 0.7690868377685547 + ], + "closest_ee_minus_button": [ + -0.0014423084387422125, + -0.0010148698687937885, + 0.034974970518348525 + ], + "button_min_z_position": [ + 0.18163639307022084, + -0.4253808557987213, + 0.7683129906654358 + ], + "min_active_finger_to_button": 0.14736116578517677, + "closest_active_finger": [ + 0.03945152461528778, + -0.4089949131011963, + 0.8078085780143738 + ], + "closest_active_finger_button": [ + 0.18171386420726762, + -0.42540901899337774, + 0.7730621099472046 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14226233959197984, + 0.016414105892181452, + 0.03474646806716919 + ], + "min_contact_pad_to_button": 0.021195506461643598, + "closest_contact_pad": [ + 0.18163639307022084, + -0.4277071227177009, + 0.7893804531701428 + ], + "closest_contact_pad_button": [ + 0.18163639307022084, + -0.4253808557987213, + 0.7683129906654358 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023262669189795804, + 0.021067462504707035 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 45, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "55fc97e1476a4a07a0f311b4b09309485781db867dcbbe55cb11651cf6b00d9b", + "visual_seed": 5545214345547975256, + "episode_index": 45, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_46_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_46_success.json new file mode 100644 index 0000000000000000000000000000000000000000..382716245c7a0e725c72cb2a43df40bcebcdea10 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_46_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 46, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1997222498283399, + -0.0276198743893301, + 0.9971769665324047 + ], + "current_z": 0.9971769665324047, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14059051872848394, + "gripper_z": 1.0002213709327155, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19504548489598056, + -0.03225380771306566, + 1.0002213709327155 + ], + "object_minus_gripper": [ + 0.0046767649323593286, + 0.004633933323735559, + -0.0030444044003107296 + ], + "object_to_gripper_xy": 0.0065837275369939816, + "object_to_gripper_z": -0.0030444044003107296, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1997222498283399, + -0.05173319955868317, + 0.9971769665324047 + ], + "finger_b": [ + 0.18820054594437574, + -0.0276198743893301, + 0.9971769665324047 + ], + "finger_midpoint": [ + 0.1939613978863578, + -0.03967653697400664, + 0.9971769665324047 + ], + "object_minus_finger_midpoint": [ + 0.005760851941982087, + 0.012056662584676539, + 0.0 + ], + "finger_gap": 0.02672456007332414, + "fingertip_max_gap": 0.09147843076591106, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013362280036662079, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9971769665324047, + "object_top_z": 1.0425315643903965, + "finger_top_clearance": 0.045354597857991785, + "fingertip_min_top_clearance": 0.013606379357397535, + "object_projection_between_fingers": 0.814128720254084, + "object_to_finger_line_xy": 0.010395927622260309, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04823921538295553, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.329387122127212, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33444330711025816, + 0.3571234997080274, + 0.7611067464333451 + ], + "gripper_position": [ + 0.32331549227739853, + 0.32016417810210596, + 1.0201864433535737 + ], + "target_minus_gripper": [ + 0.011127814832859628, + 0.03695932160592147, + -0.2590796969202286 + ], + "held_position": [ + 0.3280618075347047, + 0.3246514382862612, + 1.0170304505807441 + ], + "held_minus_target": [ + -0.006381499575553451, + -0.03247206142176623, + 0.25592370414739907 + ], + "held_minus_gripper": [ + 0.004746315257306177, + 0.0044872601841552395, + -0.003155992772829519 + ], + "xy_dist": 0.03859818281375879, + "held_xy_dist": 0.03309317618198271, + "held_gripper_dist": 0.007254192089005809, + "max_held_gripper_dist": 0.007259577626857901, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611067464333451, + "held_z": 1.0170304505807441, + "required_height": 0.7911067464333451, + "gripper_z": 1.0201864433535737, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18014274847414, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9340345619862965, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.108430549966775, + "max_source_tilt_deg": 89.72659627369057, + "source_upright_tilt_deg": 2.3544522286450182, + "max_source_upright_tilt_deg": 89.94579071435106, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.108430549966775, + "source_upright_return_tilt_deg": 2.3544522286450182, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3344, + 0.3571, + 0.7611 + ], + "controller_target_position": [ + 0.3344, + 0.3571, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + -0.0017, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3339, + 0.3301, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0647, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005470136721182222, + -0.0017364967348992852, + -0.001916381712414679 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.354437792418968, + "source_return_step_error_deg": 2.108408427902258, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3621764121778903, + "source_return_best_wrist_position": -1.6122400760650635, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122400760650635 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3344, + 0.3571, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3344, + 0.3571, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + -0.0017, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3339, + 0.3301, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0647, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0005470136721182222, + -0.0017364967348992852, + -0.001916381712414679 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.354437792418968, + "pour_controller_source_return_step_error_deg": 2.108408427902258, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3621764121778903, + "pour_controller_source_return_best_wrist_position": -1.6122400760650635, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122400760650635, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03859818281375879, + "valid_pour_held_xy_dist": 0.03309317618198271, + "valid_pour_held_gripper_dist": 0.007254192089005809, + "valid_pour_required_height": 0.7911067464333451, + "valid_pour_held_z": 1.0170304505807441, + "valid_pour_source_tilt_deg": 2.108430549966775, + "valid_pour_source_upright_tilt_deg": 2.3544522286450182, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3280618075347047, + 0.3010453119487848, + 1.0170304505807441 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3168260510880805, + 0.3246514382862612, + 1.0170304505807441 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3224439293113926, + 0.312848375117523, + 1.0170304505807441 + ], + "valid_pour_held_grasp_object_position": [ + 0.3280618075347047, + 0.3246514382862612, + 1.0170304505807441 + ], + "valid_pour_held_grasp_finger_gap": 0.026143668900687103, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023782459323554935, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017467533702148298, + -0.9991558137054298, + 0.037182592768725375 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005839568719577067, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350525625843385, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3280618075347047, + 0.3010453119487848, + 1.0170304505807441 + ], + "held_grasp_finger_b": [ + 0.3168260510880805, + 0.3246514382862612, + 1.0170304505807441 + ], + "held_grasp_midpoint": [ + 0.3224439293113926, + 0.312848375117523, + 1.0170304505807441 + ], + "held_grasp_object_position": [ + 0.3280618075347047, + 0.3246514382862612, + 1.0170304505807441 + ], + "held_grasp_finger_gap": 0.026143668900687103, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023782459323554935, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017467533702148298, + -0.9991558137054298, + 0.037182592768725375 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005839568719577067, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350525625843385, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18221701478072477, + -0.027361158690500105, + 0.7565860625132987 + ], + "target_position": [ + 0.17619701216070702, + -0.02897951566062454, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0062337397144708396, + "xy_threshold": 0.08, + "gripper_dist": 0.2206637835578209, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565860625132987, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07554675846502272, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08915894105446596, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19154288209408674, + "release_required_pad_clearance": 0.054579470527232984, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.1952101557024335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3432242659188182, + 0.3554317769291443, + 1.162796691499447 + ], + "current_z": 1.162796691499447, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.3016902430893257, + "gripper_z": 1.151732165009679, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.33835464689677547, + 0.35074089073379167, + 1.151732165009679 + ], + "object_minus_gripper": [ + 0.004869619022042748, + 0.004690886195352628, + 0.011064526489767967 + ], + "object_to_gripper_xy": 0.0067614793290810575, + "object_to_gripper_z": 0.011064526489767967, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3432242659188182, + 0.33137375234172234, + 1.162796691499447 + ], + "finger_b": [ + 0.3326477881752576, + 0.3554317769291443, + 1.162796691499447 + ], + "finger_midpoint": [ + 0.3379360270470379, + 0.3434027646354333, + 1.162796691499447 + ], + "object_minus_finger_midpoint": [ + 0.005288238871780315, + 0.012029012293711006, + 0.0 + ], + "finger_gap": 0.026280228851915135, + "fingertip_max_gap": 0.0901810348922494, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013140114425957593, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162796691499447, + "object_top_z": 1.2125562747877432, + "finger_top_clearance": 0.049759583288296216, + "fingertip_min_top_clearance": 0.014927874986488864, + "object_projection_between_fingers": 0.838034008461387, + "object_to_finger_line_xy": 0.009682151667578038, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047590517446124705, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.17504550301331948, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33100294589614515, + -0.3664073464414885, + 0.8515395933103349 + ], + "target_position": [ + 0.3256877339848471, + -0.36678920980853946, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005328911454800117, + "xy_threshold": 0.08, + "gripper_dist": 0.18398651205659972, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395933103349, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07549745180079186, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.085652895555055, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15201258986454208, + "release_required_pad_clearance": 0.0528264477775275, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.697731839118768, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008571803569793701, + "max_z_decrease": 0.008571803569793701, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035003430345334846, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008571803569793701, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02113604036621919, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008571803569793701, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008572492902045092, + "max_button_displacement": 0.12, + "button_start": [ + 0.18138766288757321, + -0.42305067181587225, + 0.7768088579177856 + ], + "button_final": [ + 0.18138766288757321, + -0.42305067181587225, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18100449035460386, + -0.4215517212183966, + 0.8032094881254338 + ], + "closest_button": [ + 0.18129383027553553, + -0.42299577593803406, + 0.7682370543479919 + ], + "closest_ee_minus_button": [ + -0.00028933992093166383, + 0.0014440547196374331, + 0.03497243377744186 + ], + "button_min_z_position": [ + 0.18129383027553553, + -0.42299577593803406, + 0.7682370543479919 + ], + "min_active_finger_to_button": 0.14571056740465396, + "closest_active_finger": [ + 0.05336485803127289, + -0.4833125174045563, + 0.8074923157691956 + ], + "closest_active_finger_button": [ + 0.18140810728073117, + -0.4230578243732453, + 0.7727667093276978 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12804324924945829, + -0.06025469303131098, + 0.0347256064414978 + ], + "min_contact_pad_to_button": 0.02113604036621919, + "closest_contact_pad": [ + 0.18129383027553553, + -0.42299577593803406, + 0.7893730947142111 + ], + "closest_contact_pad_button": [ + 0.18129383027553553, + -0.42299577593803406, + 0.7682370543479919 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02113604036621919 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 46, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ae3140434f79db0f5d97a5b82cccbf82007bd5583e5c02e87dd53bf827759580", + "visual_seed": 403255305311465582, + "episode_index": 46, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_47_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_47_success.json new file mode 100644 index 0000000000000000000000000000000000000000..cdefe4a3c2a5b10d87d0b10df3a5a6b546356ae2 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_47_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 47, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1980407891569189, + -0.028739947457811416, + 0.9965847453591158 + ], + "current_z": 0.9965847453591158, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13999823795055022, + "gripper_z": 0.9995740298477728, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1932851920091599, + -0.033342263080901144, + 0.9995740298477728 + ], + "object_minus_gripper": [ + 0.004755597147759, + 0.004602315623089728, + -0.0029892844886569847 + ], + "object_to_gripper_xy": 0.006617931196855202, + "object_to_gripper_z": -0.0029892844886569847, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1980407891569189, + -0.05302795516584285, + 0.9965847453591158 + ], + "finger_b": [ + 0.186740145217147, + -0.028739947457811416, + 0.9965847453591158 + ], + "finger_midpoint": [ + 0.19239046718703295, + -0.040883951311827135, + 0.9965847453591158 + ], + "object_minus_finger_midpoint": [ + 0.005650321969885935, + 0.01214400385401572, + 0.0 + ], + "finger_gap": 0.026788278628513955, + "fingertip_max_gap": 0.09155321793008928, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013394139314256976, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965847453591158, + "object_top_z": 1.0419784603500022, + "finger_top_clearance": 0.0453937149908864, + "fingertip_min_top_clearance": 0.01361811449726592, + "object_projection_between_fingers": 0.8220423066313842, + "object_to_finger_line_xy": 0.010245903849258428, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04827660896504464, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3438494461502566, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3381527127708872, + 0.3509118612574048, + 0.7611063888054764 + ], + "gripper_position": [ + 0.3305098981787431, + 0.31627650615589037, + 1.0175841727104418 + ], + "target_minus_gripper": [ + 0.007642814592144109, + 0.03463535510151444, + -0.25647778390496534 + ], + "held_position": [ + 0.3352893161936194, + 0.32076330083976945, + 1.014459486555493 + ], + "held_minus_target": [ + -0.002863396577267807, + -0.03014856041763536, + 0.2533530977500166 + ], + "held_minus_gripper": [ + 0.004779418014876302, + 0.004486794683879081, + -0.0031246861549487637 + ], + "xy_dist": 0.03546858381579244, + "held_xy_dist": 0.030284232452127934, + "held_gripper_dist": 0.007262081427740824, + "max_held_gripper_dist": 0.00726805115001077, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.014459486555493, + "required_height": 0.7911063888054765, + "gripper_z": 1.0175841727104418, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19954048571698, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.5328255066056669, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.161149437120409, + "max_source_tilt_deg": 89.97688824140961, + "source_upright_tilt_deg": 2.5972081370106532, + "max_source_upright_tilt_deg": 89.75723958561159, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.161149437120409, + "source_upright_return_tilt_deg": 2.5972081370106532, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3382, + 0.3509, + 0.7611 + ], + "controller_target_position": [ + 0.3382, + 0.3509, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + 0.0011, + 0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3362, + 0.3266, + 1.0284 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0652, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019214245933987905, + 0.0010759217154805482, + 0.0018672353739994738 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.597198546212309, + "source_return_step_error_deg": 2.1611301573072725, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6006341746733623, + "source_return_best_wrist_position": -1.61260986328125, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61260986328125 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3382, + 0.3509, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3382, + 0.3509, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + 0.0011, + 0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3362, + 0.3266, + 1.0284 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0652, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0019214245933987905, + 0.0010759217154805482, + 0.0018672353739994738 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.597198546212309, + "pour_controller_source_return_step_error_deg": 2.1611301573072725, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6006341746733623, + "pour_controller_source_return_best_wrist_position": -1.61260986328125, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61260986328125, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03546858381579244, + "valid_pour_held_xy_dist": 0.030284232452127934, + "valid_pour_held_gripper_dist": 0.007262081427740824, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.014459486555493, + "valid_pour_source_tilt_deg": 2.161149437120409, + "valid_pour_source_upright_tilt_deg": 2.5972081370106532, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3352893161936194, + 0.29710423812027037, + 1.014459486555493 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3240636067584759, + 0.32076330083976945, + 1.014459486555493 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3296764614760477, + 0.30893376948001994, + 1.014459486555493 + ], + "valid_pour_held_grasp_object_position": [ + 0.3352893161936194, + 0.32076330083976945, + 1.014459486555493 + ], + "valid_pour_held_grasp_finger_gap": 0.02618716863441829, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023913997102249132, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024874795788544568, + -0.998972789103321, + 0.03787626124117982 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0059221483258688505, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352246364446694, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3352893161936194, + 0.29710423812027037, + 1.014459486555493 + ], + "held_grasp_finger_b": [ + 0.3240636067584759, + 0.32076330083976945, + 1.014459486555493 + ], + "held_grasp_midpoint": [ + 0.3296764614760477, + 0.30893376948001994, + 1.014459486555493 + ], + "held_grasp_object_position": [ + 0.3352893161936194, + 0.32076330083976945, + 1.014459486555493 + ], + "held_grasp_finger_gap": 0.02618716863441829, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023913997102249132, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024874795788544568, + -0.998972789103321, + 0.03787626124117982 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0059221483258688505, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352246364446694, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1832448494889925, + -0.030361048377486113, + 0.7565863061496734 + ], + "target_position": [ + 0.17500610742421674, + -0.03324742616098488, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008729722075700969, + "xy_threshold": 0.08, + "gripper_dist": 0.2219490432414409, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863061496734, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527377661185186, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08855988347923015, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19365976543508923, + "release_required_pad_clearance": 0.054279941739615076, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.579601469512911, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 294, + "max_placed_release_frames": 294 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34722536989873914, + 0.3476443392380413, + 1.1644333915035185 + ], + "current_z": 1.1644333915035185, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30332700269804214, + "gripper_z": 1.153372071114474, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34240366139100004, + 0.34280129613534, + 1.153372071114474 + ], + "object_minus_gripper": [ + 0.004821708507739109, + 0.004843043102701283, + 0.011061320389044615 + ], + "object_to_gripper_xy": 0.006834028052929412, + "object_to_gripper_z": 0.011061320389044615, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34722536989873914, + 0.32401546500893275, + 1.1644333915035185 + ], + "finger_b": [ + 0.33590846213540276, + 0.3476443392380413, + 1.1644333915035185 + ], + "finger_midpoint": [ + 0.34156691601707095, + 0.335829902123487, + 1.1644333915035185 + ], + "object_minus_finger_midpoint": [ + 0.005658453881668191, + 0.011814437114554266, + 0.0 + ], + "finger_gap": 0.026199162174750792, + "fingertip_max_gap": 0.09061348784808657, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013099581087375396, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1644333915035185, + "object_top_z": 1.214342807278519, + "finger_top_clearance": 0.04990941577500041, + "fingertip_min_top_clearance": 0.014972824732500122, + "object_projection_between_fingers": 0.8134132732192154, + "object_to_finger_line_xy": 0.010206654259349092, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047806743924043285, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3854866489010771, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33427552263204574, + -0.36852438559961553, + 0.8515395997905586 + ], + "target_position": [ + 0.32761404006157197, + -0.3702496152436541, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006881262047138973, + "xy_threshold": 0.08, + "gripper_dist": 0.1846696982344189, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395997905586, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07574688125438928, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08677339896237334, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15224619905076323, + "release_required_pad_clearance": 0.05338669948118667, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7887618857713734, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00860506296157837, + "max_z_decrease": 0.00860506296157837, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035005873977949194, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00860506296157837, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021144723627230886, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00860506296157837, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008605433741885616, + "max_button_displacement": 0.12, + "button_start": [ + 0.18331396579742432, + -0.42651107907295227, + 0.7768088579177856 + ], + "button_final": [ + 0.18331396579742432, + -0.42651107907295227, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1821492249382881, + -0.42783135379180476, + 0.8039330502075712 + ], + "closest_button": [ + 0.18328088521957397, + -0.4265164136886596, + 0.7689701914787292 + ], + "closest_ee_minus_button": [ + -0.0011316602812858623, + -0.0013149401031451458, + 0.03496285872884197 + ], + "button_min_z_position": [ + 0.18324792385101318, + -0.4264661371707916, + 0.7682037949562073 + ], + "min_active_finger_to_button": 0.1468669605398672, + "closest_active_finger": [ + 0.04131856560707092, + -0.41206395626068115, + 0.8104422688484192 + ], + "closest_active_finger_button": [ + 0.18331903219223022, + -0.4265162944793701, + 0.775846004486084 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1420004665851593, + 0.014452338218688965, + 0.034596264362335205 + ], + "min_contact_pad_to_button": 0.021144723627230886, + "closest_contact_pad": [ + 0.18328088521957397, + -0.42897279217475187, + 0.7899717519446813 + ], + "closest_contact_pad_button": [ + 0.18328088521957397, + -0.4265164136886596, + 0.7689701914787292 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002456378486092259, + 0.02100156046595203 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 47, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a8dc12af7c873568d24d9304ec3803ed22fd36a4d6be8f6200b05ebd6c53c327", + "visual_seed": 7092781905459601073, + "episode_index": 47, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_48_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_48_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c77c9575f474d3e307ff71ead331d7a69800a2c5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_48_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 48, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20121473976736587, + -0.03367850614376821, + 0.9976025582100457 + ], + "current_z": 0.9976025582100457, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1410159911968354, + "gripper_z": 1.0010664216605738, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19640856258527686, + -0.03834198266750076, + 1.0010664216605738 + ], + "object_minus_gripper": [ + 0.004806177182089005, + 0.00466347652373255, + -0.0034638634505280708 + ], + "object_to_gripper_xy": 0.006696816586486271, + "object_to_gripper_z": -0.0034638634505280708, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20121473976736587, + -0.057946439557457215, + 0.9976025582100457 + ], + "finger_b": [ + 0.1897087338265956, + -0.03367850614376821, + 0.9976025582100457 + ], + "finger_midpoint": [ + 0.19546173679698073, + -0.04581247285061271, + 0.9976025582100457 + ], + "object_minus_finger_midpoint": [ + 0.00575300297038514, + 0.012133966706844503, + 0.0 + ], + "finger_gap": 0.02685741545421458, + "fingertip_max_gap": 0.09118243919971616, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01342870772710729, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9976025582100457, + "object_top_z": 1.0428198026532731, + "finger_top_clearance": 0.04521724444322739, + "fingertip_min_top_clearance": 0.013565173332968217, + "object_projection_between_fingers": 0.8164642151525846, + "object_to_finger_line_xy": 0.01039664395496796, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048091219599858084, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.180838665221067, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3399666013206919, + 0.35421059091553164, + 0.7611063292008317 + ], + "gripper_position": [ + 0.334398502672518, + 0.3196605928953163, + 1.0171959662039447 + ], + "target_minus_gripper": [ + 0.005568098648173869, + 0.034549998020215356, + -0.25608963700311305 + ], + "held_position": [ + 0.3393192672176337, + 0.32410533048090084, + 1.0136071864548837 + ], + "held_minus_target": [ + -0.0006473341030581725, + -0.0301052604346308, + 0.252500857254052 + ], + "held_minus_gripper": [ + 0.004920764545115697, + 0.004444737585584557, + -0.003588779749061022 + ], + "xy_dist": 0.03499580097315506, + "held_xy_dist": 0.030112219235352428, + "held_gripper_dist": 0.007539824666426018, + "max_held_gripper_dist": 0.007545352389337139, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0136071864548837, + "required_height": 0.7911063292008317, + "gripper_z": 1.0171959662039447, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19784659880281, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.123193398495644, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.325161502696866, + "max_source_tilt_deg": 89.9705453447895, + "source_upright_tilt_deg": 2.3290247884896713, + "max_source_upright_tilt_deg": 89.68560120603969, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.325161502696866, + "source_upright_return_tilt_deg": 2.3290247884896713, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.34, + 0.3542, + 0.7611 + ], + "controller_target_position": [ + 0.34, + 0.3542, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0017, + 0.0014, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3417, + 0.3301, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0662, + 0.0642, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017314834767936126, + 0.0014001917861572342, + 0.00011314462298027753 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3290177275800685, + "source_return_step_error_deg": 2.3251536974661664, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3276348331773633, + "source_return_best_wrist_position": -1.6125941276550293, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125941276550293 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.34, + 0.3542, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.34, + 0.3542, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0017, + 0.0014, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3417, + 0.3301, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0662, + 0.0642, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0017314834767936126, + 0.0014001917861572342, + 0.00011314462298027753 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3290177275800685, + "pour_controller_source_return_step_error_deg": 2.3251536974661664, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3276348331773633, + "pour_controller_source_return_best_wrist_position": -1.6125941276550293, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125941276550293, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03499580097315506, + "valid_pour_held_xy_dist": 0.030112219235352428, + "valid_pour_held_gripper_dist": 0.007539824666426018, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0136071864548837, + "valid_pour_source_tilt_deg": 2.325161502696866, + "valid_pour_source_upright_tilt_deg": 2.3290247884896713, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3393192672176337, + 0.30021809919048104, + 1.0136071864548837 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32831275060846166, + 0.32410533048090084, + 1.0136071864548837 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3338160089130477, + 0.31216171483569094, + 1.0136071864548837 + ], + "valid_pour_held_grasp_object_position": [ + 0.3393192672176337, + 0.32410533048090084, + 1.0136071864548837 + ], + "valid_pour_held_grasp_finger_gap": 0.02630101189289096, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023915940120564815, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.00440111366147091, + -0.999173947778672, + 0.04039866679635006 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005576640795055178, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0332906958361422, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3393192672176337, + 0.30021809919048104, + 1.0136071864548837 + ], + "held_grasp_finger_b": [ + 0.32831275060846166, + 0.32410533048090084, + 1.0136071864548837 + ], + "held_grasp_midpoint": [ + 0.3338160089130477, + 0.31216171483569094, + 1.0136071864548837 + ], + "held_grasp_object_position": [ + 0.3393192672176337, + 0.32410533048090084, + 1.0136071864548837 + ], + "held_grasp_finger_gap": 0.02630101189289096, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023915940120564815, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.00440111366147091, + -0.999173947778672, + 0.04039866679635006 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005576640795055178, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0332906958361422, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18859155913772205, + -0.034983247128074074, + 0.7565869222781081 + ], + "target_position": [ + 0.17706891331335348, + -0.038060057354736464, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0119263627298826, + "xy_threshold": 0.08, + "gripper_dist": 0.22391608817983652, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869222781081, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752730389167823, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08496615479239665, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19515792246236358, + "release_required_pad_clearance": 0.05248307739619833, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0395609193465194, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34893311892898465, + 0.35242414533808153, + 1.1634546520746776 + ], + "current_z": 1.1634546520746776, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30234826326920117, + "gripper_z": 1.1524526529459342, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3441269309109951, + 0.34767596731646205, + 1.1524526529459342 + ], + "object_minus_gripper": [ + 0.004806188017989543, + 0.004748178021619476, + 0.011001999128743334 + ], + "object_to_gripper_xy": 0.006756081541045556, + "object_to_gripper_z": 0.011001999128743334, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34893311892898465, + 0.3285094092824735, + 1.1634546520746776 + ], + "finger_b": [ + 0.3381344890650925, + 0.35242414533808153, + 1.1634546520746776 + ], + "finger_midpoint": [ + 0.3435338039970386, + 0.3404667773102775, + 1.1634546520746776 + ], + "object_minus_finger_midpoint": [ + 0.005399314931946064, + 0.011957368027804005, + 0.0 + ], + "finger_gap": 0.026239760051241717, + "fingertip_max_gap": 0.09040929580673432, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119880025620858, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634546520746776, + "object_top_z": 1.2132920248192813, + "finger_top_clearance": 0.04983737274460376, + "fingertip_min_top_clearance": 0.01495121182338116, + "object_projection_between_fingers": 0.8306373687822417, + "object_to_finger_line_xy": 0.009841796664789454, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770464790336716, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.30949292576977017, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3358181864592974, + -0.3634483839098548, + 0.851539558534149 + ], + "target_position": [ + 0.32864933533080876, + -0.3651665270157975, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007371868300161859, + "xy_threshold": 0.08, + "gripper_dist": 0.18423939072070886, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539558534149, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584225543016483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08595280518484859, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1515587460768075, + "release_required_pad_clearance": 0.052976402592424296, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9875362462489016, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008373141288757324, + "max_z_decrease": 0.008373141288757324, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500040403140205, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008373141288757324, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021079596431456602, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008373141288757324, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008373529172290627, + "max_button_displacement": 0.12, + "button_start": [ + 0.1843492686748504, + -0.42142799496650696, + 0.7768088579177856 + ], + "button_final": [ + 0.1843492686748504, + -0.42142799496650696, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18308841752736654, + -0.4210280341847783, + 0.8038536257094259 + ], + "closest_button": [ + 0.18426422774791712, + -0.421425998210907, + 0.768875241279602 + ], + "closest_ee_minus_button": [ + -0.0011758102205505772, + 0.0003979640261286832, + 0.03497838442982382 + ], + "button_min_z_position": [ + 0.18427243828773493, + -0.4214036464691162, + 0.7684357166290283 + ], + "min_active_finger_to_button": 0.14690650690998355, + "closest_active_finger": [ + 0.05592828989028931, + -0.48375892639160156, + 0.807820200920105 + ], + "closest_active_finger_button": [ + 0.1843674778938293, + -0.4214382767677307, + 0.7731642723083496 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12843918800353998, + -0.06232064962387085, + 0.03465592861175537 + ], + "min_contact_pad_to_button": 0.021079596431456602, + "closest_contact_pad": [ + 0.18427243828773493, + -0.42217230826127405, + 0.7895012938763376 + ], + "closest_contact_pad_button": [ + 0.18427243828773493, + -0.4214036464691162, + 0.7684357166290283 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007686617921578431, + 0.021065577247309286 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 48, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c2509aac714a2a69996ffb76800795ea20581b0dbe7fdbe13ba24ee19a65a4bb", + "visual_seed": 6392796473739065217, + "episode_index": 48, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_49_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_49_success.json new file mode 100644 index 0000000000000000000000000000000000000000..edf2c1b4ac892246d003479f12f52590395e6ce4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_49_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 49, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19825981552060562, + -0.029754462415632815, + 0.9968471640354322 + ], + "current_z": 0.9968471640354322, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1402606566268666, + "gripper_z": 0.9998956819489516, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19337397747058566, + -0.03437139647235006, + 0.9998956819489516 + ], + "object_minus_gripper": [ + 0.004885838050019964, + 0.004616934056717245, + -0.003048517913519455 + ], + "object_to_gripper_xy": 0.006722164349009806, + "object_to_gripper_z": -0.003048517913519455, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19825981552060562, + -0.05419617030336926, + 0.9968471640354322 + ], + "finger_b": [ + 0.18706442263777745, + -0.029754462415632815, + 0.9968471640354322 + ], + "finger_midpoint": [ + 0.19266211907919154, + -0.04197531635950104, + 0.9968471640354322 + ], + "object_minus_finger_midpoint": [ + 0.005597696441414085, + 0.012220853943868223, + 0.0 + ], + "finger_gap": 0.026883710797996577, + "fingertip_max_gap": 0.09181112213494674, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013441855398998288, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968471640354322, + "object_top_z": 1.042346787650505, + "finger_top_clearance": 0.04549962361507287, + "fingertip_min_top_clearance": 0.013649887084521877, + "object_projection_between_fingers": 0.8265795741510416, + "object_to_finger_line_xy": 0.010178450608497154, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048405561067473374, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3303282208165483, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33450449127812, + 0.35104063709244193, + 0.7611064484101211 + ], + "gripper_position": [ + 0.32754979469409556, + 0.31586912145729845, + 1.0168456889751885 + ], + "target_minus_gripper": [ + 0.006954696584024422, + 0.03517151563514348, + -0.25573924056506736 + ], + "held_position": [ + 0.33248516834322006, + 0.3203281581356131, + 1.0136439232250931 + ], + "held_minus_target": [ + -0.0020193229348999253, + -0.030712478956828826, + 0.252537474814972 + ], + "held_minus_gripper": [ + 0.004935373649124497, + 0.004459036678314654, + -0.0032017657500953423 + ], + "xy_dist": 0.03585252176136266, + "held_xy_dist": 0.03077879186695063, + "held_gripper_dist": 0.007381884926867353, + "max_held_gripper_dist": 0.007389584822009101, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0136439232250931, + "required_height": 0.7911064484101211, + "gripper_z": 1.0168456889751885, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20058550465998, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9445680225590813, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3745352594973346, + "max_source_tilt_deg": 89.98098435369961, + "source_upright_tilt_deg": 2.4612347251296756, + "max_source_upright_tilt_deg": 89.93589350558568, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3745352594973346, + "source_upright_return_tilt_deg": 2.4612347251296756, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848589398656e-08, + "max_target_xy_drift": 1.2287812320088516e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3345, + 0.351, + 0.7611 + ], + "controller_target_position": [ + 0.3345, + 0.351, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + 0.0011, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3342, + 0.3268, + 1.0263 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0673, + 0.0649, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003310105642809144, + 0.0011164020449001334, + -0.00020332824683000524 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.461238475430699, + "source_return_step_error_deg": 2.3745719809108286, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4657743856583334, + "source_return_best_wrist_position": -1.6127866506576538, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127866506576538 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3345, + 0.351, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3345, + 0.351, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + 0.0011, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3342, + 0.3268, + 1.0263 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0673, + 0.0649, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003310105642809144, + 0.0011164020449001334, + -0.00020332824683000524 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.461238475430699, + "pour_controller_source_return_step_error_deg": 2.3745719809108286, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4657743856583334, + "pour_controller_source_return_best_wrist_position": -1.6127866506576538, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127866506576538, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03585252176136266, + "valid_pour_held_xy_dist": 0.03077879186695063, + "valid_pour_held_gripper_dist": 0.007381884926867353, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0136439232250931, + "valid_pour_source_tilt_deg": 2.3745352594973346, + "valid_pour_source_upright_tilt_deg": 2.4612347251296756, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848589398656e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33248516834322006, + 0.29640439642975613, + 1.0136439232250931 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32150062808124047, + 0.3203281581356131, + 1.0136439232250931 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32699289821223027, + 0.3083662772826846, + 1.0136439232250931 + ], + "valid_pour_held_grasp_object_position": [ + 0.33248516834322006, + 0.3203281581356131, + 1.0136439232250931 + ], + "valid_pour_held_grasp_finger_gap": 0.026325016598773097, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024094708652339137, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017571627297400267, + -0.9990775154298069, + 0.03918362000537035 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005720689945139715, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033345886887158005, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33248516834322006, + 0.29640439642975613, + 1.0136439232250931 + ], + "held_grasp_finger_b": [ + 0.32150062808124047, + 0.3203281581356131, + 1.0136439232250931 + ], + "held_grasp_midpoint": [ + 0.32699289821223027, + 0.3083662772826846, + 1.0136439232250931 + ], + "held_grasp_object_position": [ + 0.33248516834322006, + 0.3203281581356131, + 1.0136439232250931 + ], + "held_grasp_finger_gap": 0.026325016598773097, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024094708652339137, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017571627297400267, + -0.9990775154298069, + 0.03918362000537035 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005720689945139715, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033345886887158005, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17540247623030536, + -0.029670897756785383, + 0.7565895480566807 + ], + "target_position": [ + 0.17640959931539282, + -0.031757758227106664, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0023171714505201488, + "xy_threshold": 0.08, + "gripper_dist": 0.21617729690936324, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565895480566807, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07596978308351968, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08681129781897477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18724963874360112, + "release_required_pad_clearance": 0.05340564890948739, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.8169721305966664, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3432005967656667, + 0.34879306326798376, + 1.165400880514866 + ], + "current_z": 1.165400880514866, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3042944321047448, + "gripper_z": 1.1542975922044756, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3385970450227741, + 0.3441895928341585, + 1.1542975922044756 + ], + "object_minus_gripper": [ + 0.00460355174289262, + 0.004603470433825252, + 0.011103288310390313 + ], + "object_to_gripper_xy": 0.006510347815946006, + "object_to_gripper_z": 0.011103288310390313, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3432005967656667, + 0.3250455892236111, + 1.165400880514866 + ], + "finger_b": [ + 0.3325818556090395, + 0.34879306326798376, + 1.165400880514866 + ], + "finger_midpoint": [ + 0.3378912261873531, + 0.33691932624579746, + 1.165400880514866 + ], + "object_minus_finger_midpoint": [ + 0.005309370578313599, + 0.011873737022186304, + 0.0 + ], + "finger_gap": 0.02601346165429741, + "fingertip_max_gap": 0.09049175403496465, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013006730827148679, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.165400880514866, + "object_top_z": 1.2152978447236182, + "finger_top_clearance": 0.04989696420875234, + "fingertip_min_top_clearance": 0.014969089262625733, + "object_projection_between_fingers": 0.8333713129127245, + "object_to_finger_line_xy": 0.009693760997750852, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04774587701748233, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3808388725525794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32760030272367074, + -0.36368258657245356, + 0.8515395378766689 + ], + "target_position": [ + 0.3211484413966384, + -0.36462653993436633, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006520549250847052, + "xy_threshold": 0.08, + "gripper_dist": 0.18377769706147473, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395378766689, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07552396190887771, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510964339500636, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15170708518547846, + "release_required_pad_clearance": 0.05255482169750318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.17693863681634187, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008535504341125488, + "max_z_decrease": 0.008535504341125488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500498709088599, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008535504341125488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02103015559827177, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008535504341125488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008536600381130025, + "max_button_displacement": 0.12, + "button_start": [ + 0.17684836685657498, + -0.42088800668716436, + 0.7768088579177856 + ], + "button_final": [ + 0.17684836685657498, + -0.42088800668716436, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1766802040828868, + -0.4220956776910887, + 0.8036334163714131 + ], + "closest_button": [ + 0.1767200529575348, + -0.4208626747131348, + 0.7686501741409302 + ], + "closest_ee_minus_button": [ + -3.984887464800191e-05, + -0.0012330029779538676, + 0.03498324223048288 + ], + "button_min_z_position": [ + 0.17671403288841242, + -0.4208621978759766, + 0.7682733535766602 + ], + "min_active_finger_to_button": 0.1458795298751017, + "closest_active_finger": [ + 0.0356576144695282, + -0.4079951047897339, + 0.8106420636177063 + ], + "closest_active_finger_button": [ + 0.17684964835643766, + -0.4208938181400299, + 0.7763015627861023 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14119203388690946, + 0.01289871335029602, + 0.034340500831604004 + ], + "min_contact_pad_to_button": 0.02103015559827177, + "closest_contact_pad": [ + 0.1767200529575348, + -0.423092459395012, + 0.789561785861694 + ], + "closest_contact_pad_button": [ + 0.1767200529575348, + -0.4208626747131348, + 0.7686501741409302 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0022297846818771783, + 0.020911611720763834 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 49, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "205aec17107d6b9552fbafcd5778bbdafc5bd7a4ec47f0e73d12b1445a393b76", + "visual_seed": 7382437621191713341, + "episode_index": 49, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_4_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_4_success.json new file mode 100644 index 0000000000000000000000000000000000000000..040ed5713979bc4a96a56d3896e9235b72fee755 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_4_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 4, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19885564945604473, + -0.03445419125741899, + 0.9961534068804764 + ], + "current_z": 0.9961534068804764, + "required_z": 0.8565863881992761, + "initial_z": 0.7565863881992761, + "lift_margin": 0.13956701868120025, + "gripper_z": 0.9991571137050854, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19413011309773162, + -0.03894829305106981, + 0.9991571137050854 + ], + "object_minus_gripper": [ + 0.004725536358313104, + 0.004494101793650819, + -0.0030037068246090426 + ], + "object_to_gripper_xy": 0.006521322320314691, + "object_to_gripper_z": -0.0030037068246090426, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19885564945604473, + -0.05886282019082382, + 0.9961534068804764 + ], + "finger_b": [ + 0.18792375316151716, + -0.03445419125741899, + 0.9961534068804764 + ], + "finger_midpoint": [ + 0.19338970130878094, + -0.046658505724121405, + 0.9961534068804764 + ], + "object_minus_finger_midpoint": [ + 0.005465948147263783, + 0.012204314466702414, + 0.0 + ], + "finger_gap": 0.02674485974917335, + "fingertip_max_gap": 0.09168279074839525, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013372429874586676, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9961534068804764, + "object_top_z": 1.0415870658191904, + "finger_top_clearance": 0.04543365893871398, + "fingertip_min_top_clearance": 0.013630097681614162, + "object_projection_between_fingers": 0.8329254282353641, + "object_to_finger_line_xy": 0.009976967637672278, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04834139537419763, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2964030047759558, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33972162623066504, + 0.3566313739584394, + 0.761106448410121 + ], + "gripper_position": [ + 0.33282621965119896, + 0.3210570619910304, + 1.016383037510966 + ], + "target_minus_gripper": [ + 0.006895406579466079, + 0.03557431196740901, + -0.25527658910084494 + ], + "held_position": [ + 0.33753184348813636, + 0.3254741882773584, + 1.0132341560497378 + ], + "held_minus_target": [ + -0.0021897827425286787, + -0.031157185681081, + 0.2521277076396168 + ], + "held_minus_gripper": [ + 0.0047056238369374, + 0.00441712628632801, + -0.003148881461228159 + ], + "xy_dist": 0.03623642233790036, + "held_xy_dist": 0.031234041813778046, + "held_gripper_dist": 0.007181180597992905, + "max_held_gripper_dist": 0.0071855112461131805, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106448410121, + "held_z": 1.0132341560497378, + "required_height": 0.791106448410121, + "gripper_z": 1.016383037510966, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19794905164036, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1482845201454874, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1891296949806174, + "max_source_tilt_deg": 89.87608394823442, + "source_upright_tilt_deg": 2.9533403186700964, + "max_source_upright_tilt_deg": 89.88554460510709, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1891296949806174, + "source_upright_return_tilt_deg": 2.9533403186700964, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 8.429369702178807e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3397, + 0.3566, + 0.7611 + ], + "controller_target_position": [ + 0.3397, + 0.3566, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0008, + -0.0, + -0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3405, + 0.3312, + 1.0258 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0659, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007893405605876006, + -9.702167022051025e-07, + -0.0007148437986002891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.9533196647203526, + "source_return_step_error_deg": 2.1891203364011966, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9559507080005925, + "source_return_best_wrist_position": -1.6126409769058228, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126409769058228 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3397, + 0.3566, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3397, + 0.3566, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0008, + -0.0, + -0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3405, + 0.3312, + 1.0258 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0659, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007893405605876006, + -9.702167022051025e-07, + -0.0007148437986002891 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.9533196647203526, + "pour_controller_source_return_step_error_deg": 2.1891203364011966, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9559507080005925, + "pour_controller_source_return_best_wrist_position": -1.6126409769058228, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126409769058228, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03623642233790036, + "valid_pour_held_xy_dist": 0.031234041813778046, + "valid_pour_held_gripper_dist": 0.007181180597992905, + "valid_pour_required_height": 0.791106448410121, + "valid_pour_held_z": 1.0132341560497378, + "valid_pour_source_tilt_deg": 2.1891296949806174, + "valid_pour_source_upright_tilt_deg": 2.9533403186700964, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33753184348813636, + 0.30183141195657737, + 1.0132341560497378 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32645021915816014, + 0.3254741882773584, + 1.0132341560497378 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3319910313231482, + 0.3136528001169679, + 1.0132341560497378 + ], + "valid_pour_held_grasp_object_position": [ + 0.33753184348813636, + 0.3254741882773584, + 1.0132341560497378 + ], + "valid_pour_held_grasp_finger_gap": 0.026110979873325432, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023977120241965463, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03300467737632193, + -0.9986718347200009, + 0.039563339195174296 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005946090840256722, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03357741028064451, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33753184348813636, + 0.30183141195657737, + 1.0132341560497378 + ], + "held_grasp_finger_b": [ + 0.32645021915816014, + 0.3254741882773584, + 1.0132341560497378 + ], + "held_grasp_midpoint": [ + 0.3319910313231482, + 0.3136528001169679, + 1.0132341560497378 + ], + "held_grasp_object_position": [ + 0.33753184348813636, + 0.3254741882773584, + 1.0132341560497378 + ], + "held_grasp_finger_gap": 0.026110979873325432, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023977120241965463, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03300467737632193, + -0.9986718347200009, + 0.039563339195174296 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005946090840256722, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03357741028064451, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1775448860905855, + -0.033170714470107346, + 0.7565980108060636 + ], + "target_position": [ + 0.17662673222083589, + -0.03731932633813119, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004248998347851464, + "xy_threshold": 0.08, + "gripper_dist": 0.2170402957748803, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565980108060636, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528072389241801, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0849910798847845, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18952225654458893, + "release_required_pad_clearance": 0.052495539942392255, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.028103288606477785, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 296, + "max_placed_release_frames": 296 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34853934711740453, + 0.35393335431790424, + 1.1628182488689798 + ], + "current_z": 1.1628182488689798, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3017118600635036, + "gripper_z": 1.1514051851688176, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34390277542784975, + 0.3492099336986582, + 1.1514051851688176 + ], + "object_minus_gripper": [ + 0.00463657168955478, + 0.0047234206192460215, + 0.011413063700162152 + ], + "object_to_gripper_xy": 0.0066187989377755945, + "object_to_gripper_z": 0.011413063700162152, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34853934711740453, + 0.3302774460869565, + 1.1628182488689798 + ], + "finger_b": [ + 0.3376016960330322, + 0.35393335431790424, + 1.1628182488689798 + ], + "finger_midpoint": [ + 0.34307052157521833, + 0.3421054002024304, + 1.1628182488689798 + ], + "object_minus_finger_midpoint": [ + 0.005468825542186195, + 0.011827954115473827, + 0.0 + ], + "finger_gap": 0.026062122044731715, + "fingertip_max_gap": 0.09050471879333452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013031061022365844, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628182488689798, + "object_top_z": 1.2127909459528905, + "finger_top_clearance": 0.04997269708391072, + "fingertip_min_top_clearance": 0.014991809125173216, + "object_projection_between_fingers": 0.8238719277102657, + "object_to_finger_line_xy": 0.0099278205308819, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775235939666726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.18310018387394317, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33093015016041233, + -0.36500160896844563, + 0.8515395939601939 + ], + "target_position": [ + 0.3246422502179971, + -0.3662363904685456, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0064079927464702055, + "xy_threshold": 0.08, + "gripper_dist": 0.18540132261104714, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395939601939, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07588248770380833, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502567112834729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15262867935092744, + "release_required_pad_clearance": 0.052512835564173646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691326111637542, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008367002010345459, + "max_z_decrease": 0.008367002010345459, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034990189014041294, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008367002010345459, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02109455214612263, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008367002010345459, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008367723532843062, + "max_button_displacement": 0.12, + "button_start": [ + 0.1803421825170517, + -0.42249783873558044, + 0.7768088579177856 + ], + "button_final": [ + 0.1803421825170517, + -0.42249783873558044, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1803546720470944, + -0.42170662989937685, + 0.8037912028520768 + ], + "closest_button": [ + 0.1802406907081604, + -0.4224631190299988, + 0.7688093781471252 + ], + "closest_ee_minus_button": [ + 0.00011398133893400497, + 0.000756489130621929, + 0.03498182470495159 + ], + "button_min_z_position": [ + 0.1802360564470291, + -0.4224693477153778, + 0.7684418559074402 + ], + "min_active_finger_to_button": 0.14560104698499812, + "closest_active_finger": [ + 0.052919864654541016, + -0.4838314652442932, + 0.8089577555656433 + ], + "closest_active_finger_button": [ + 0.18035362660884857, + -0.422504723072052, + 0.7743263840675354 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12743376195430756, + -0.06132674217224121, + 0.03463137149810791 + ], + "min_contact_pad_to_button": 0.02109455214612263, + "closest_contact_pad": [ + 0.1802360564470291, + -0.4229595562703769, + 0.7895307113960174 + ], + "closest_contact_pad_button": [ + 0.1802360564470291, + -0.4224693477153778, + 0.7684418559074402 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004902085549990942, + 0.021088855488577196 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 4, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f0f476a8e0304540a42d58fb804770945acb23cec2cd96fdd149c3ef17adfac", + "visual_seed": 2341877093716966502, + "episode_index": 4, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_50_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_50_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0395a6ca4d43e678650ab82182dc45a2ebef184f --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_50_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 50, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19882535649610805, + -0.032590861850021184, + 0.9959394091249857 + ], + "current_z": 0.9959394091249857, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13935284211177534, + "gripper_z": 0.9989779490698715, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1940295412000436, + -0.03717898776065824, + 0.9989779490698715 + ], + "object_minus_gripper": [ + 0.0047958152960644596, + 0.004588125910637057, + -0.0030385399448857875 + ], + "object_to_gripper_xy": 0.006637073430799524, + "object_to_gripper_z": -0.0030385399448857875, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19882535649610805, + -0.056965296420852025, + 0.9959394091249857 + ], + "finger_b": [ + 0.18762102342170306, + -0.032590861850021184, + 0.9959394091249857 + ], + "finger_midpoint": [ + 0.19322318995890556, + -0.044778079135436605, + 0.9959394091249857 + ], + "object_minus_finger_midpoint": [ + 0.0056021665372024965, + 0.01218721728541542, + 0.0 + ], + "finger_gap": 0.026826295687066435, + "fingertip_max_gap": 0.09153968728512199, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013413147843533217, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959394091249857, + "object_top_z": 1.0413411140873712, + "finger_top_clearance": 0.04540170496238549, + "fingertip_min_top_clearance": 0.013620511488715648, + "object_projection_between_fingers": 0.8255581808243218, + "object_to_finger_line_xy": 0.010180283055761142, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048269843642561, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.309654722462594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33768833298344225, + 0.3498345073030897, + 0.7611064484101212 + ], + "gripper_position": [ + 0.32983568578828226, + 0.3138420490449294, + 1.0160798244430977 + ], + "target_minus_gripper": [ + 0.00785264719515999, + 0.035992458258160276, + -0.25497337603297654 + ], + "held_position": [ + 0.33465378260133194, + 0.31831330426396043, + 1.0129043323290468 + ], + "held_minus_target": [ + -0.0030345503821103126, + -0.03152120303912925, + 0.25179788391892555 + ], + "held_minus_gripper": [ + 0.004818096813049677, + 0.004471255219031023, + -0.003175492114050993 + ], + "xy_dist": 0.036839124846242806, + "held_xy_dist": 0.03166693444360501, + "held_gripper_dist": 0.007299995226028005, + "max_held_gripper_dist": 0.007307943942278844, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0129043323290468, + "required_height": 0.7911064484101212, + "gripper_z": 1.0160798244430977, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20113874998276, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.778484983506061, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.202280793865243, + "max_source_tilt_deg": 89.64912157193321, + "source_upright_tilt_deg": 2.595650765122813, + "max_source_upright_tilt_deg": 89.59020815102187, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.202280793865243, + "source_upright_return_tilt_deg": 2.595650765122813, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3377, + 0.3498, + 0.7611 + ], + "controller_target_position": [ + 0.3377, + 0.3498, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + 0.0003, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.337, + 0.3247, + 1.0251 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0652, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006775766432344326, + 0.00028513427408169423, + -0.001414319715229981 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.595648649896885, + "source_return_step_error_deg": 2.202284150888312, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5996105432753063, + "source_return_best_wrist_position": -1.6127357482910156, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127357482910156 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3377, + 0.3498, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3377, + 0.3498, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + 0.0003, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.337, + 0.3247, + 1.0251 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0652, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0006775766432344326, + 0.00028513427408169423, + -0.001414319715229981 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.595648649896885, + "pour_controller_source_return_step_error_deg": 2.202284150888312, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5996105432753063, + "pour_controller_source_return_best_wrist_position": -1.6127357482910156, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127357482910156, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036839124846242806, + "valid_pour_held_xy_dist": 0.03166693444360501, + "valid_pour_held_gripper_dist": 0.007299995226028005, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0129043323290468, + "valid_pour_source_tilt_deg": 2.202280793865243, + "valid_pour_source_upright_tilt_deg": 2.595650765122813, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33465378260133194, + 0.2945777741861285, + 1.0129043323290468 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32351408045782604, + 0.31831330426396043, + 1.0129043323290468 + ], + "valid_pour_held_grasp_midpoint": [ + 0.329083931529579, + 0.30644553922504447, + 1.0129043323290468 + ], + "valid_pour_held_grasp_object_position": [ + 0.33465378260133194, + 0.31831330426396043, + 1.0129043323290468 + ], + "valid_pour_held_grasp_finger_gap": 0.026219617692134517, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02398464099260491, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02454850937164517, + -0.9989740204826124, + 0.038056235867929604 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058766885994258385, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033481367551975505, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33465378260133194, + 0.2945777741861285, + 1.0129043323290468 + ], + "held_grasp_finger_b": [ + 0.32351408045782604, + 0.31831330426396043, + 1.0129043323290468 + ], + "held_grasp_midpoint": [ + 0.329083931529579, + 0.30644553922504447, + 1.0129043323290468 + ], + "held_grasp_object_position": [ + 0.33465378260133194, + 0.31831330426396043, + 1.0129043323290468 + ], + "held_grasp_finger_gap": 0.026219617692134517, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02398464099260491, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02454850937164517, + -0.9989740204826124, + 0.038056235867929604 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058766885994258385, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033481367551975505, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1829879889236901, + -0.030050505184040177, + 0.7565863532148853 + ], + "target_position": [ + 0.17578774994158214, + -0.03411808254146252, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008269741650020382, + "xy_threshold": 0.08, + "gripper_dist": 0.2199629715141073, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863532148853, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0759538655303235, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08660532556827848, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19054236958406717, + "release_required_pad_clearance": 0.05330266278413924, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6236123786727807, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 284, + "max_placed_release_frames": 284 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34681218894998556, + 0.34850828082747487, + 1.1650292447357165 + ], + "current_z": 1.1650292447357165, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30392285593024004, + "gripper_z": 1.1538450496108124, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3418216814291303, + 0.34364604837476836, + 1.1538450496108124 + ], + "object_minus_gripper": [ + 0.004990507520855281, + 0.004862232452706505, + 0.011184195124904095 + ], + "object_to_gripper_xy": 0.006967529672693575, + "object_to_gripper_z": 0.011184195124904095, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34681218894998556, + 0.32432561190373355, + 1.1650292447357165 + ], + "finger_b": [ + 0.33602363646154443, + 0.34850828082747487, + 1.1650292447357165 + ], + "finger_midpoint": [ + 0.341417912705765, + 0.3364169463656042, + 1.1650292447357165 + ], + "object_minus_finger_midpoint": [ + 0.005394276244220564, + 0.012091334461870662, + 0.0 + ], + "finger_gap": 0.02648007441589116, + "fingertip_max_gap": 0.08997171139148455, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01324003720794558, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650292447357165, + "object_top_z": 1.2149776590708234, + "finger_top_clearance": 0.049948414335106994, + "fingertip_min_top_clearance": 0.014984524300532098, + "object_projection_between_fingers": 0.8340076951875434, + "object_to_finger_line_xy": 0.009852540022992106, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04748585569574228, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3814366995894635, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33548715359459164, + -0.3691050110927728, + 0.8515396146919303 + ], + "target_position": [ + 0.32795169656223916, + -0.37090201811035706, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077467636408811115, + "xy_threshold": 0.08, + "gripper_dist": 0.18279747047515835, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396146919303, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547860862114707, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08598263819118022, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15112421657419908, + "release_required_pad_clearance": 0.052991319095590114, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0164384122862213, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008439838886260986, + "max_z_decrease": 0.008439838886260986, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500302808928474, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008439838886260986, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021114681466263784, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008439838886260986, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00844056698812238, + "max_button_displacement": 0.12, + "button_start": [ + 0.1836516261100769, + -0.4271634817123413, + 0.7768088579177856 + ], + "button_final": [ + 0.1836516261100769, + -0.4271634817123413, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18222654683786135, + -0.4264446062141102, + 0.8047075003078397 + ], + "closest_button": [ + 0.18356502056121826, + -0.4271409809589386, + 0.7697370052337646 + ], + "closest_ee_minus_button": [ + -0.0013384737233569088, + 0.0006963747448284208, + 0.034970495074075014 + ], + "button_min_z_position": [ + 0.18354798853397372, + -0.42712411284446716, + 0.7683690190315247 + ], + "min_active_finger_to_button": 0.14699593145480527, + "closest_active_finger": [ + 0.054718680679798126, + -0.4886629581451416, + 0.8088695406913757 + ], + "closest_active_finger_button": [ + 0.18365834653377533, + -0.4271689355373382, + 0.7742162346839905 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1289396658539772, + -0.0614940226078034, + 0.034653306007385254 + ], + "min_contact_pad_to_button": 0.021114681466263784, + "closest_contact_pad": [ + 0.18354798853397372, + -0.4275902767923011, + 0.7894785539528706 + ], + "closest_contact_pad_button": [ + 0.18354798853397372, + -0.42712411284446716, + 0.7683690190315247 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0004661639478339419, + 0.02110953492134593 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 50, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2135606805edecd05de05b2d3736d5c525949d610f69866535e87725fc5984ea", + "visual_seed": 4500289104784942703, + "episode_index": 50, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_51_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_51_success.json new file mode 100644 index 0000000000000000000000000000000000000000..033be0ce072500d1e5dadd706da0ef82c26d3131 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_51_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 51, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20157954894429442, + -0.026819004756114095, + 0.9955371863870626 + ], + "current_z": 0.9955371863870626, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13895061937385222, + "gripper_z": 0.9987338142587492, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19684444786703253, + -0.03154297371182703, + 0.9987338142587492 + ], + "object_minus_gripper": [ + 0.004735101077261883, + 0.004723968955712934, + -0.003196627871686619 + ], + "object_to_gripper_xy": 0.006688577195968227, + "object_to_gripper_z": -0.003196627871686619, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20157954894429442, + -0.05086912844984924, + 0.9955371863870626 + ], + "finger_b": [ + 0.18979525618219217, + -0.026819004756114095, + 0.9955371863870626 + ], + "finger_midpoint": [ + 0.1956874025632433, + -0.03884406660298167, + 0.9955371863870626 + ], + "object_minus_finger_midpoint": [ + 0.005892146381051122, + 0.012025061846867573, + 0.0 + ], + "finger_gap": 0.02678204632933966, + "fingertip_max_gap": 0.09143665139970142, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01339102316466983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955371863870626, + "object_top_z": 1.0408999287016147, + "finger_top_clearance": 0.045362742314552174, + "fingertip_min_top_clearance": 0.013608822694365669, + "object_projection_between_fingers": 0.8063936788507706, + "object_to_finger_line_xy": 0.010582227178857057, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04821832569985071, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3312880136928789, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3391026021923502, + 0.3574268873499341, + 0.7611062695961869 + ], + "gripper_position": [ + 0.3320601674414834, + 0.320983647846244, + 1.0163798799323978 + ], + "target_minus_gripper": [ + 0.0070424347508667995, + 0.036443239503690106, + -0.2552736103362109 + ], + "held_position": [ + 0.3369366501889509, + 0.32546856492405074, + 1.013053598530525 + ], + "held_minus_target": [ + -0.0021659520033993074, + -0.03195832242588337, + 0.251947328934338 + ], + "held_minus_gripper": [ + 0.004876482747467492, + 0.004484917077806738, + -0.003326281401872855 + ], + "xy_dist": 0.037117456711681304, + "held_xy_dist": 0.03203163624228006, + "held_gripper_dist": 0.007413414405359779, + "max_held_gripper_dist": 0.007418943919846494, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961869, + "held_z": 1.013053598530525, + "required_height": 0.7911062695961869, + "gripper_z": 1.0163798799323978, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20372056148902, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5121369049134072, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2237833801595457, + "max_source_tilt_deg": 89.83650413895003, + "source_upright_tilt_deg": 2.151188545338716, + "max_source_upright_tilt_deg": 89.97501201141878, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2237833801595457, + "source_upright_return_tilt_deg": 2.151188545338716, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.7881393432617188e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3391, + 0.3574, + 0.7611 + ], + "controller_target_position": [ + 0.3391, + 0.3574, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0018, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3402, + 0.3303, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0662, + 0.0637, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010880014229734144, + -0.0017685446509374926, + -0.00026750721865628877 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.151201214908976, + "source_return_step_error_deg": 2.2237935176583123, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.226523063223468, + "source_return_best_wrist_position": -1.6129956245422363, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129956245422363 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3391, + 0.3574, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3391, + 0.3574, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0018, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3402, + 0.3303, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0662, + 0.0637, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010880014229734144, + -0.0017685446509374926, + -0.00026750721865628877 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.151201214908976, + "pour_controller_source_return_step_error_deg": 2.2237935176583123, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.226523063223468, + "pour_controller_source_return_best_wrist_position": -1.6129956245422363, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129956245422363, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037117456711681304, + "valid_pour_held_xy_dist": 0.03203163624228006, + "valid_pour_held_gripper_dist": 0.007413414405359779, + "valid_pour_required_height": 0.7911062695961869, + "valid_pour_held_z": 1.013053598530525, + "valid_pour_source_tilt_deg": 2.2237833801595457, + "valid_pour_source_upright_tilt_deg": 2.151188545338716, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3369366501889509, + 0.3016847380472708, + 1.013053598530525 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3257966356360519, + 0.32546856492405074, + 1.013053598530525 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3313666429125014, + 0.3135766514856608, + 1.013053598530525 + ], + "valid_pour_held_grasp_object_position": [ + 0.3369366501889509, + 0.32546856492405074, + 1.013053598530525 + ], + "valid_pour_held_grasp_finger_gap": 0.026263479303843994, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02377289356938359, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0005231534178465769, + -0.999295267150598, + 0.03753259065021375 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0055940577467811755, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03331960611780719, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3369366501889509, + 0.3016847380472708, + 1.013053598530525 + ], + "held_grasp_finger_b": [ + 0.3257966356360519, + 0.32546856492405074, + 1.013053598530525 + ], + "held_grasp_midpoint": [ + 0.3313666429125014, + 0.3135766514856608, + 1.013053598530525 + ], + "held_grasp_object_position": [ + 0.3369366501889509, + 0.32546856492405074, + 1.013053598530525 + ], + "held_grasp_finger_gap": 0.026263479303843994, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02377289356938359, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0005231534178465769, + -0.999295267150598, + 0.03753259065021375 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0055940577467811755, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03331960611780719, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.185402800662429, + -0.023786389163866405, + 0.7565864149476385 + ], + "target_position": [ + 0.17790289015391247, + -0.029383250024662706, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.009358071870362517, + "xy_threshold": 0.08, + "gripper_dist": 0.22055536696829942, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864149476385, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543719466703797, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0867165100318688, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19253591534959652, + "release_required_pad_clearance": 0.0533582550159344, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.732750832059335, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 300, + "max_placed_release_frames": 300 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34789256031570953, + 0.3554126569151128, + 1.1624794302695105 + ], + "current_z": 1.1624794302695105, + "required_z": 0.8611062695961869, + "initial_z": 0.7611062695961869, + "lift_margin": 0.30137316067332365, + "gripper_z": 1.151302271236392, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34338616063355365, + 0.35080657630701567, + 1.151302271236392 + ], + "object_minus_gripper": [ + 0.004506399682155882, + 0.004606080608097141, + 0.011177159033118444 + ], + "object_to_gripper_xy": 0.006443882111244987, + "object_to_gripper_z": 0.011177159033118444, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34789256031570953, + 0.33191729712429957, + 1.1624794302695105 + ], + "finger_b": [ + 0.33701908051506774, + 0.3554126569151128, + 1.1624794302695105 + ], + "finger_midpoint": [ + 0.34245582041538863, + 0.3436649770197062, + 1.1624794302695105 + ], + "object_minus_finger_midpoint": [ + 0.005436739900320897, + 0.011747679895406593, + 0.0 + ], + "finger_gap": 0.025889466867332914, + "fingertip_max_gap": 0.09090823892058178, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012944733433666433, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1624794302695105, + "object_top_z": 1.2124668796687543, + "finger_top_clearance": 0.04998744939924382, + "fingertip_min_top_clearance": 0.014996234819773179, + "object_projection_between_fingers": 0.8236031239692296, + "object_to_finger_line_xy": 0.009867963732253507, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04795411946029089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6890346191307896, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3280774669195346, + -0.3637014237693366, + 0.8515395578667277 + ], + "target_position": [ + 0.3226173849002744, + -0.36397827528391163, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005467096342499447, + "xy_threshold": 0.08, + "gripper_dist": 0.18063424916227036, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395578667277, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07566740352740436, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08655635945396471, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14827848267352228, + "release_required_pad_clearance": 0.05327817972698236, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.575660655035529, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 148, + "max_placed_release_frames": 148 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00857841968536377, + "max_z_decrease": 0.00857841968536377, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501922598199659, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00857841968536377, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02126230780822739, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00857841968536377, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00857933716917649, + "max_button_displacement": 0.12, + "button_start": [ + 0.17831730842590326, + -0.42023974657058705, + 0.7768088579177856 + ], + "button_final": [ + 0.17831730842590326, + -0.42023974657058705, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17946258033399465, + -0.421124560608183, + 0.8057442636108393 + ], + "closest_button": [ + 0.17823645472526545, + -0.4202429354190826, + 0.7707576155662537 + ], + "closest_ee_minus_button": [ + 0.0012261256087292005, + -0.000881625189100399, + 0.03498664804458562 + ], + "button_min_z_position": [ + 0.17820030450820917, + -0.4201944470405578, + 0.7682304382324219 + ], + "min_active_finger_to_button": 0.14472475628045148, + "closest_active_finger": [ + 0.03893287479877472, + -0.4029536545276642, + 0.8076011538505554 + ], + "closest_active_finger_button": [ + 0.178335890173912, + -0.42024821043014515, + 0.7727736830711365 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.13940301537513727, + 0.017294555902480968, + 0.034827470779418945 + ], + "min_contact_pad_to_button": 0.02126230780822739, + "closest_contact_pad": [ + 0.17821446061134333, + -0.4223698301811894, + 0.7897584939352694 + ], + "closest_contact_pad_button": [ + 0.17821446061134333, + -0.42020109295845026, + 0.7686070799827576 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0021687372227391366, + 0.021151413952511855 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 51, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d7ff489478fb0ef559279b6fad652ed25ed3702409317c7bdda0d166098f1f3f", + "visual_seed": 7289657211321243767, + "episode_index": 51, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_52_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_52_success.json new file mode 100644 index 0000000000000000000000000000000000000000..068427bccf6b2297844eb5c51f5c562b74198e8e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_52_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 52, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20414452819441672, + -0.03480823916837231, + 0.9968917243954154 + ], + "current_z": 0.9968917243954154, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.14030533619613939, + "gripper_z": 1.0000820595976543, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1993257725798959, + -0.03947331510299287, + 1.0000820595976543 + ], + "object_minus_gripper": [ + 0.004818755614520831, + 0.004665075934620566, + -0.003190335202238881 + ], + "object_to_gripper_xy": 0.0067069619909652075, + "object_to_gripper_z": -0.003190335202238881, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20414452819441672, + -0.05907766651129069, + 0.9968917243954154 + ], + "finger_b": [ + 0.19271054207247929, + -0.03480823916837231, + 0.9968917243954154 + ], + "finger_midpoint": [ + 0.19842753513344802, + -0.0469429528398315, + 0.9968917243954154 + ], + "object_minus_finger_midpoint": [ + 0.005716993060968706, + 0.012134713671459192, + 0.0 + ], + "finger_gap": 0.02682799176587492, + "fingertip_max_gap": 0.09201402692894547, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013413995882937454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968917243954154, + "object_top_z": 1.0423768678677723, + "finger_top_clearance": 0.04548514347235688, + "fingertip_min_top_clearance": 0.013645543041707047, + "object_projection_between_fingers": 0.818356863359393, + "object_to_finger_line_xy": 0.010343535880284246, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04850701346447274, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6797649912260935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34293562788624365, + 0.35725275238022286, + 0.7611064484101214 + ], + "gripper_position": [ + 0.3314376611143103, + 0.31999126671280614, + 1.0200131678125424 + ], + "target_minus_gripper": [ + 0.011497966771933377, + 0.037261485667416716, + -0.25890671940242094 + ], + "held_position": [ + 0.33631112655285916, + 0.3245071899348686, + 1.0166918120508752 + ], + "held_minus_target": [ + -0.0066245013333844915, + -0.03274556244535426, + 0.2555853636407538 + ], + "held_minus_gripper": [ + 0.004873465438548885, + 0.004515923222062457, + -0.003321355761667144 + ], + "xy_dist": 0.03899514782676924, + "held_xy_dist": 0.03340891913514426, + "held_gripper_dist": 0.007428030157710251, + "max_held_gripper_dist": 0.007434515574518899, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101214, + "held_z": 1.0166918120508752, + "required_height": 0.7911064484101215, + "gripper_z": 1.0200131678125424, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18829116415397, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.671012429823087, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1626622157297195, + "max_source_tilt_deg": 89.79588343918732, + "source_upright_tilt_deg": 2.5880570531402136, + "max_source_upright_tilt_deg": 89.67340536882014, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1626622157297195, + "source_upright_return_tilt_deg": 2.5880570531402136, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3429, + 0.3573, + 0.7611 + ], + "controller_target_position": [ + 0.3429, + 0.3573, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.0016, + -0.0004 + ], + "controller_last_pour_pose_position": [ + 0.3414, + 0.3303, + 1.026 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.068, + 0.0652, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015080271539804238, + -0.0016216647842412692, + -0.00036477565436925205 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.588052193931211, + "source_return_step_error_deg": 2.1626598606644625, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5929385335823922, + "source_return_best_wrist_position": -1.6128596067428589, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128596067428589 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3429, + 0.3573, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3429, + 0.3573, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.0016, + -0.0004 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3414, + 0.3303, + 1.026 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.068, + 0.0652, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0015080271539804238, + -0.0016216647842412692, + -0.00036477565436925205 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.588052193931211, + "pour_controller_source_return_step_error_deg": 2.1626598606644625, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5929385335823922, + "pour_controller_source_return_best_wrist_position": -1.6128596067428589, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128596067428589, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03899514782676924, + "valid_pour_held_xy_dist": 0.03340891913514426, + "valid_pour_held_gripper_dist": 0.007428030157710251, + "valid_pour_required_height": 0.7911064484101215, + "valid_pour_held_z": 1.0166918120508752, + "valid_pour_source_tilt_deg": 2.1626622157297195, + "valid_pour_source_upright_tilt_deg": 2.5880570531402136, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33631112655285916, + 0.3007865133226577, + 1.0166918120508752 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32508257936072615, + 0.3245071899348686, + 1.0166918120508752 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33069685295679263, + 0.31264685162876316, + 1.0166918120508752 + ], + "valid_pour_held_grasp_object_position": [ + 0.33631112655285916, + 0.3245071899348686, + 1.0166918120508752 + ], + "valid_pour_held_grasp_finger_gap": 0.026244061632816038, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023984683751470812, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02566689185621884, + -0.9989800136135009, + 0.03715027675820315 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005933026236829592, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0334960849965583, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33631112655285916, + 0.3007865133226577, + 1.0166918120508752 + ], + "held_grasp_finger_b": [ + 0.32508257936072615, + 0.3245071899348686, + 1.0166918120508752 + ], + "held_grasp_midpoint": [ + 0.33069685295679263, + 0.31264685162876316, + 1.0166918120508752 + ], + "held_grasp_object_position": [ + 0.33631112655285916, + 0.3245071899348686, + 1.0166918120508752 + ], + "held_grasp_finger_gap": 0.026244061632816038, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023984683751470812, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02566689185621884, + -0.9989800136135009, + 0.03715027675820315 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005933026236829592, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0334960849965583, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19579732807565253, + -0.03634339317767986, + 0.7565863761777939 + ], + "target_position": [ + 0.1819259423618984, + -0.03724266247016828, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.013900504554876944, + "xy_threshold": 0.08, + "gripper_dist": 0.22251078507166072, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863761777939, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559470823620063, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08891709613639799, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19266461158484977, + "release_required_pad_clearance": 0.054458548068199, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9459662178613373, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 289, + "max_placed_release_frames": 289 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3517054151505603, + 0.35253301477201765, + 1.16416295981782 + ], + "current_z": 1.16416295981782, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3030565114076986, + "gripper_z": 1.1529916650380165, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3470298954412395, + 0.3479174130009923, + 1.1529916650380165 + ], + "object_minus_gripper": [ + 0.004675519709320786, + 0.004615601771025324, + 0.011171294779803498 + ], + "object_to_gripper_xy": 0.0065699516178537596, + "object_to_gripper_z": 0.011171294779803498, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3517054151505603, + 0.3286879645317241, + 1.16416295981782 + ], + "finger_b": [ + 0.34113027303770205, + 0.35253301477201765, + 1.16416295981782 + ], + "finger_midpoint": [ + 0.3464178440941312, + 0.3406104896518709, + 1.16416295981782 + ], + "object_minus_finger_midpoint": [ + 0.00528757105642913, + 0.011922525120146743, + 0.0 + ], + "finger_gap": 0.026084862500486205, + "fingertip_max_gap": 0.09077585775388772, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013042431250243076, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16416295981782, + "object_top_z": 1.2140967885182086, + "finger_top_clearance": 0.04993382870038854, + "fingertip_min_top_clearance": 0.014980148610116527, + "object_projection_between_fingers": 0.8356403071414674, + "object_to_finger_line_xy": 0.009667093126316072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04788792887694386, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3372817345818982, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3304453699139961, + -0.3610163134090237, + 0.8515395901512622 + ], + "target_position": [ + 0.32366654284527613, + -0.36277508766244054, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007003269472331655, + "xy_threshold": 0.08, + "gripper_dist": 0.1836485085193869, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395901512622, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07553802779069885, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08559840975106812, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1517950638317785, + "release_required_pad_clearance": 0.052799204875534064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6452812831532609, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00850003957748413, + "max_z_decrease": 0.00850003957748413, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001275636183875, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00850003957748413, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02102347025775216, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00850003957748413, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00850022849162243, + "max_button_displacement": 0.12, + "button_start": [ + 0.1793664693832397, + -0.4190365374088287, + 0.7768088579177856 + ], + "button_final": [ + 0.1793664693832397, + -0.4190365374088287, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1787616015936388, + -0.4182702891780912, + 0.803297640138092 + ], + "closest_button": [ + 0.17931094765663141, + -0.419025182723999, + 0.7683088183403015 + ], + "closest_ee_minus_button": [ + -0.0005493460629926172, + 0.0007548935459077977, + 0.034988821797790504 + ], + "button_min_z_position": [ + 0.17931094765663141, + -0.419025182723999, + 0.7683088183403015 + ], + "min_active_finger_to_button": 0.14610538724006933, + "closest_active_finger": [ + 0.05164202302694321, + -0.4810104966163635, + 0.810834527015686 + ], + "closest_active_finger_button": [ + 0.1793737113475799, + -0.41904264688491816, + 0.7763180732727051 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277316883206367, + -0.06196784973144537, + 0.03451645374298096 + ], + "min_contact_pad_to_button": 0.02102347025775216, + "closest_contact_pad": [ + 0.17931094765663141, + -0.41947216858959924, + 0.789327536315348 + ], + "closest_contact_pad_button": [ + 0.17931094765663141, + -0.419025182723999, + 0.7683088183403015 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00044698586560021347, + 0.021018717975046508 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 52, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fc2c132ff118a6e417505eb2d46691fafe6b51632dd2749ecc19473e08d75e4a", + "visual_seed": 5713410064641142993, + "episode_index": 52, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_53_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_53_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e17373b168d2738b0a4a56d2681cf3ebcbce35f6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_53_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 53, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20359315489311197, + -0.03261038102498074, + 0.996454862337796 + ], + "current_z": 0.996454862337796, + "required_z": 0.856586388199276, + "initial_z": 0.756586388199276, + "lift_margin": 0.13986847413852, + "gripper_z": 0.9997086224375075, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19915883983952518, + -0.03716583094030525, + 0.9997086224375075 + ], + "object_minus_gripper": [ + 0.004434315053586796, + 0.004555449915324507, + -0.0032537600997114557 + ], + "object_to_gripper_xy": 0.006357300836478994, + "object_to_gripper_z": -0.0032537600997114557, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20359315489311197, + -0.056473572961704036, + 0.996454862337796 + ], + "finger_b": [ + 0.19202857317236707, + -0.03261038102498074, + 0.996454862337796 + ], + "finger_midpoint": [ + 0.1978108640327395, + -0.04454197699334239, + 0.996454862337796 + ], + "object_minus_finger_midpoint": [ + 0.005782290860372463, + 0.011931595968361651, + 0.0 + ], + "finger_gap": 0.02651775781970796, + "fingertip_max_gap": 0.0918549536565369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013258878909853989, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996454862337796, + "object_top_z": 1.0417267874870235, + "finger_top_clearance": 0.04527192514922751, + "fingertip_min_top_clearance": 0.013581577544768237, + "object_projection_between_fingers": 0.8098106216862324, + "object_to_finger_line_xy": 0.010406906765886468, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842747682826845, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6933422848200692, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34292573351521105, + 0.34818068702682925, + 0.7611065080147659 + ], + "gripper_position": [ + 0.3368185041936278, + 0.3132823410453391, + 1.0171917523852032 + ], + "target_minus_gripper": [ + 0.006107229321583252, + 0.034898345981490164, + -0.25608524437043734 + ], + "held_position": [ + 0.3413787608451367, + 0.3176293862612566, + 1.0138285131947387 + ], + "held_minus_target": [ + -0.0015469726700743647, + -0.030551300765572664, + 0.2527220051799728 + ], + "held_minus_gripper": [ + 0.004560256651508887, + 0.0043470452159175, + -0.003363239190464551 + ], + "xy_dist": 0.03542870026165505, + "held_xy_dist": 0.03059044136508066, + "held_gripper_dist": 0.0071417169286621075, + "max_held_gripper_dist": 0.007146275866103031, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147659, + "held_z": 1.0138285131947387, + "required_height": 0.7911065080147659, + "gripper_z": 1.0171917523852032, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1859825602145, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7908120114876009, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.116395169511501, + "max_source_tilt_deg": 89.76386732159978, + "source_upright_tilt_deg": 2.331850283397576, + "max_source_upright_tilt_deg": 89.91133967254541, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.116395169511501, + "source_upright_return_tilt_deg": 2.331850283397576, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3429, + 0.3482, + 0.7611 + ], + "controller_target_position": [ + 0.3429, + 0.3482, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0008, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3442, + 0.3235, + 1.0268 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0645, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012992238429478577, + 0.0008056054092160192, + 0.0002105223727795211 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3318523516494434, + "source_return_step_error_deg": 2.116401634646872, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3351835840796706, + "source_return_best_wrist_position": -1.6119358539581299, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6119358539581299 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3429, + 0.3482, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3429, + 0.3482, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0008, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3442, + 0.3235, + 1.0268 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0645, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012992238429478577, + 0.0008056054092160192, + 0.0002105223727795211 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3318523516494434, + "pour_controller_source_return_step_error_deg": 2.116401634646872, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3351835840796706, + "pour_controller_source_return_best_wrist_position": -1.6119358539581299, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6119358539581299, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03542870026165505, + "valid_pour_held_xy_dist": 0.03059044136508066, + "valid_pour_held_gripper_dist": 0.0071417169286621075, + "valid_pour_required_height": 0.7911065080147659, + "valid_pour_held_z": 1.0138285131947387, + "valid_pour_source_tilt_deg": 2.116395169511501, + "valid_pour_source_upright_tilt_deg": 2.331850283397576, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3413787608451367, + 0.29408285903636877, + 1.0138285131947387 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3303850216586827, + 0.3176293862612566, + 1.0138285131947387 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3358818912519097, + 0.3058561226488127, + 1.0138285131947387 + ], + "valid_pour_held_grasp_object_position": [ + 0.3413787608451367, + 0.3176293862612566, + 1.0138285131947387 + ], + "valid_pour_held_grasp_finger_gap": 0.025986558942117682, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02364906293473735, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011100281103174904, + -0.9991719422015454, + 0.03914350107772845 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005645959171683036, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033497727093786726, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3413787608451367, + 0.29408285903636877, + 1.0138285131947387 + ], + "held_grasp_finger_b": [ + 0.3303850216586827, + 0.3176293862612566, + 1.0138285131947387 + ], + "held_grasp_midpoint": [ + 0.3358818912519097, + 0.3058561226488127, + 1.0138285131947387 + ], + "held_grasp_object_position": [ + 0.3413787608451367, + 0.3176293862612566, + 1.0138285131947387 + ], + "held_grasp_finger_gap": 0.025986558942117682, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02364906293473735, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011100281103174904, + -0.9991719422015454, + 0.03914350107772845 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005645959171683036, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033497727093786726, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18586775925659588, + -0.034164321530810254, + 0.7565864302711219 + ], + "target_position": [ + 0.1789377200215358, + -0.03765157782445748, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007757989446825402, + "xy_threshold": 0.08, + "gripper_dist": 0.22131931356937884, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864302711219, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07569032713093808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08666273504707818, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1921768131317935, + "release_required_pad_clearance": 0.05333136752353909, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6800005756052776, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3518889237504576, + 0.3457262639385873, + 1.164079817421344 + ], + "current_z": 1.164079817421344, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30297336901122296, + "gripper_z": 1.1529640316853293, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34712183039289934, + 0.3409847295093222, + 1.1529640316853293 + ], + "object_minus_gripper": [ + 0.004767093357558261, + 0.004741534429265115, + 0.011115785736014683 + ], + "object_to_gripper_xy": 0.0067236394775138375, + "object_to_gripper_z": 0.011115785736014683, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3518889237504576, + 0.32197118144166287, + 1.164079817421344 + ], + "finger_b": [ + 0.34092296278732426, + 0.3457262639385873, + 1.164079817421344 + ], + "finger_midpoint": [ + 0.34640594326889096, + 0.3338487226901251, + 1.164079817421344 + ], + "object_minus_finger_midpoint": [ + 0.005482980481566646, + 0.011877541248462187, + 0.0 + ], + "finger_gap": 0.02616402576593766, + "fingertip_max_gap": 0.09058021023421367, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013082012882968794, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164079817421344, + "object_top_z": 1.2140266810379803, + "finger_top_clearance": 0.04994686361663625, + "fingertip_min_top_clearance": 0.014984059084990875, + "object_projection_between_fingers": 0.8243353985159703, + "object_to_finger_line_xy": 0.009956315960994833, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779010511710684, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3468212930716053, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32835325109849123, + -0.3677220756474178, + 0.8515395745442998 + ], + "target_position": [ + 0.32235120348054896, + -0.36847458469624333, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00604903673956529, + "xy_threshold": 0.08, + "gripper_dist": 0.1833920303760951, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395745442998, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07564613506843393, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08633843618046792, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15114729630438856, + "release_required_pad_clearance": 0.05316921809023396, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.3625504165925337, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008640766143798828, + "max_z_decrease": 0.008640766143798828, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349866188362988, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008640766143798828, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021002461824520507, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008640766143798828, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008641055986967638, + "max_button_displacement": 0.12, + "button_start": [ + 0.17805112898349768, + -0.42473605275154114, + 0.7768088579177856 + ], + "button_final": [ + 0.17805112898349768, + -0.42473605275154114, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17659222148468923, + -0.4242337536317123, + 0.8039082145265896 + ], + "closest_button": [ + 0.1779875904321671, + -0.4247223138809204, + 0.7689528465270996 + ], + "closest_ee_minus_button": [ + -0.0013953689474778819, + 0.0004885602492081254, + 0.03495536799948995 + ], + "button_min_z_position": [ + 0.17798431217670446, + -0.4247127175331116, + 0.7681680917739868 + ], + "min_active_finger_to_button": 0.14698032904344682, + "closest_active_finger": [ + 0.04901456832885742, + -0.4860377013683319, + 0.8113316297531128 + ], + "closest_active_finger_button": [ + 0.17805957794189456, + -0.4247407913208007, + 0.7767875790596008 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12904500961303714, + -0.06129691004753118, + 0.03454405069351196 + ], + "min_contact_pad_to_button": 0.021002461824520507, + "closest_contact_pad": [ + 0.1779875904321671, + -0.4255067895401395, + 0.7899406525255963 + ], + "closest_contact_pad_button": [ + 0.1779875904321671, + -0.4247223138809204, + 0.7689528465270996 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007844756592190749, + 0.0209878059984967 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 53, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "19bcdeb52719b717116fe0565ee8366be2be2e8ae3caa6ca0d8836664bc4396b", + "visual_seed": 1838380536748337549, + "episode_index": 53, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_54_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_54_success.json new file mode 100644 index 0000000000000000000000000000000000000000..facfd5f2e301732b8eaff631f0e50f50f7446cdf --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_54_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 54, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20559627624793997, + -0.02995163000490448, + 0.9948969735533051 + ], + "current_z": 0.9948969735533051, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1383105257493843, + "gripper_z": 0.9983468597858146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20110304819839564, + -0.03455645057033663, + 0.9983468597858146 + ], + "object_minus_gripper": [ + 0.004493228049544329, + 0.004604820565432148, + -0.0034498862325095248 + ], + "object_to_gripper_xy": 0.00643377577671454, + "object_to_gripper_z": -0.0034498862325095248, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20559627624793997, + -0.053800757283832754, + 0.9948969735533051 + ], + "finger_b": [ + 0.19397474506387016, + -0.02995163000490448, + 0.9948969735533051 + ], + "finger_midpoint": [ + 0.19978551065590505, + -0.04187619364436862, + 0.9948969735533051 + ], + "object_minus_finger_midpoint": [ + 0.005810765592034917, + 0.01192456363946414, + 0.0 + ], + "finger_gap": 0.02652999922783315, + "fingertip_max_gap": 0.09184727067734369, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013264999613916586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9948969735533051, + "object_top_z": 1.0401982868009345, + "finger_top_clearance": 0.04530131324762943, + "fingertip_min_top_clearance": 0.013590393974288828, + "object_projection_between_fingers": 0.8081100502624058, + "object_to_finger_line_xy": 0.01044716865630878, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842363533867185, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.7812812431076122, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 159, + "max_stable_success_frames": 159, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.342610722967573, + 0.3528094049261518, + 0.7611063292008315 + ], + "gripper_position": [ + 0.33490740456021006, + 0.3162867243946988, + 1.0168383855840668 + ], + "target_minus_gripper": [ + 0.007703318407362936, + 0.03652268053145302, + -0.25573205638323526 + ], + "held_position": [ + 0.33953623058969506, + 0.3206478670872857, + 1.013252867143102 + ], + "held_minus_target": [ + -0.0030744923778779354, + -0.032161537838866106, + 0.2521465379422705 + ], + "held_minus_gripper": [ + 0.004628826029485, + 0.004361142692586917, + -0.0035855184409647745 + ], + "xy_dist": 0.037326228147079026, + "held_xy_dist": 0.032308157167230164, + "held_gripper_dist": 0.007300790264542641, + "max_held_gripper_dist": 0.007305263373543452, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.013252867143102, + "required_height": 0.7911063292008316, + "gripper_z": 1.0168383855840668, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19626882510454, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.7786816463465834, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1611864995913335, + "max_source_tilt_deg": 89.68315874321111, + "source_upright_tilt_deg": 2.2980401533123707, + "max_source_upright_tilt_deg": 89.96630447679813, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1611864995913335, + "source_upright_return_tilt_deg": 2.2980401533123707, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3426, + 0.3528, + 0.7611 + ], + "controller_target_position": [ + 0.3426, + 0.3528, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0014, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3417, + 0.3259, + 1.0276 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0665, + 0.0643, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008861171370140157, + -0.001441680184901702, + 0.001034514964731309 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2980439500241214, + "source_return_step_error_deg": 2.161193695326113, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2976867426629806, + "source_return_best_wrist_position": -1.612515926361084, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612515926361084 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3426, + 0.3528, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3426, + 0.3528, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0014, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3417, + 0.3259, + 1.0276 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0665, + 0.0643, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008861171370140157, + -0.001441680184901702, + 0.001034514964731309 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2980439500241214, + "pour_controller_source_return_step_error_deg": 2.161193695326113, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2976867426629806, + "pour_controller_source_return_best_wrist_position": -1.612515926361084, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612515926361084, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037326228147079026, + "valid_pour_held_xy_dist": 0.032308157167230164, + "valid_pour_held_gripper_dist": 0.007300790264542641, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.013252867143102, + "valid_pour_source_tilt_deg": 2.1611864995913335, + "valid_pour_source_upright_tilt_deg": 2.2980401533123707, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33953623058969506, + 0.29705473828023776, + 1.013252867143102 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32853465712699603, + 0.3206478670872857, + 1.013252867143102 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33403544385834555, + 0.3088513026837617, + 1.013252867143102 + ], + "valid_pour_held_grasp_object_position": [ + 0.33953623058969506, + 0.3206478670872857, + 1.013252867143102 + ], + "valid_pour_held_grasp_finger_gap": 0.02603210221171389, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02367181288231437, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008876748068699362, + -0.9991957776827135, + 0.039102444997241796 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005624154560914427, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03346197672064125, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33953623058969506, + 0.29705473828023776, + 1.013252867143102 + ], + "held_grasp_finger_b": [ + 0.32853465712699603, + 0.3206478670872857, + 1.013252867143102 + ], + "held_grasp_midpoint": [ + 0.33403544385834555, + 0.3088513026837617, + 1.013252867143102 + ], + "held_grasp_object_position": [ + 0.33953623058969506, + 0.3206478670872857, + 1.013252867143102 + ], + "held_grasp_finger_gap": 0.02603210221171389, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02367181288231437, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008876748068699362, + -0.9991957776827135, + 0.039102444997241796 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005624154560914427, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03346197672064125, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17492857133770662, + -0.03146186272539155, + 0.7565895951404543 + ], + "target_position": [ + 0.18288311978036473, + -0.034123277317596845, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008387965698439512, + "xy_threshold": 0.08, + "gripper_dist": 0.21078784845117596, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565895951404543, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07584861488654937, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08648283920597201, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18270976983116766, + "release_required_pad_clearance": 0.053241419602986007, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.4792433164894636, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 285, + "max_placed_release_frames": 285 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3514520591484353, + 0.3494143381743039, + 1.1650520051047992 + ], + "current_z": 1.1650520051047992, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.3039456759039677, + "gripper_z": 1.1537394794187508, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3467329686060195, + 0.3447499252937022, + 1.1537394794187508 + ], + "object_minus_gripper": [ + 0.004719090542415816, + 0.004664412880601709, + 0.011312525686048458 + ], + "object_to_gripper_xy": 0.006635251545212249, + "object_to_gripper_z": 0.011312525686048458, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3514520591484353, + 0.32540770016610865, + 1.1650520051047992 + ], + "finger_b": [ + 0.340970912852937, + 0.3494143381743039, + 1.1650520051047992 + ], + "finger_midpoint": [ + 0.3462114860006862, + 0.33741101917020627, + 1.1650520051047992 + ], + "object_minus_finger_midpoint": [ + 0.005240573147749117, + 0.012003319004097623, + 0.0 + ], + "finger_gap": 0.026194905919360773, + "fingertip_max_gap": 0.09036543347624512, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013097452959680376, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650520051047992, + "object_top_z": 1.215035833441481, + "finger_top_clearance": 0.0499838283366818, + "fingertip_min_top_clearance": 0.01499514850100454, + "object_projection_between_fingers": 0.8399027471520693, + "object_to_finger_line_xy": 0.009605573152335437, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768271673812256, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3249172930522622, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 382, + "max_stable_success_frames": 382, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3268804622625107, + -0.3654961845747773, + 0.8515395756564423 + ], + "target_position": [ + 0.3251869028586698, + -0.364198803531324, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.002133387219013447, + "xy_threshold": 0.08, + "gripper_dist": 0.17681794739948642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395756564423, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563365795333833, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09275828961379338, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14437769062950687, + "release_required_pad_clearance": 0.056379144806896694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 8.089439980088816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 145, + "max_placed_release_frames": 145 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008505105972290039, + "max_z_decrease": 0.008505105972290039, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034983770098479805, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008505105972290039, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021182733361397775, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008505105972290039, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506682395041584, + "max_button_displacement": 0.12, + "button_start": [ + 0.18088683485984794, + -0.4204602539539337, + 0.7768088579177856 + ], + "button_final": [ + 0.18088683485984794, + -0.4204602539539337, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18059129170395138, + -0.41922473470559485, + 0.803641025222857 + ], + "closest_button": [ + 0.18074156343936915, + -0.42038300633430475, + 0.7686767578125 + ], + "closest_ee_minus_button": [ + -0.00015027173541776184, + 0.001158271628709906, + 0.034964267410356964 + ], + "button_min_z_position": [ + 0.1807379722595214, + -0.42039200663566584, + 0.7683037519454956 + ], + "min_active_finger_to_button": 0.14577144385774582, + "closest_active_finger": [ + 0.052799828350543976, + -0.4806970953941345, + 0.8075317144393921 + ], + "closest_active_finger_button": [ + 0.18090756237506858, + -0.4204678833484649, + 0.7727442979812622 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1281077340245246, + -0.06022921204566961, + 0.03478741645812988 + ], + "min_contact_pad_to_button": 0.021182733361397775, + "closest_contact_pad": [ + 0.1807379722595214, + -0.4205513971730683, + 0.7894858856273668 + ], + "closest_contact_pad_button": [ + 0.1807379722595214, + -0.42039200663566584, + 0.7683037519454956 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00015939053740243736, + 0.021182133681871163 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 54, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e8a3820f56e437ee679839999e318a7b4ac65945ee0316f1eae817e69d78ae39", + "visual_seed": 4112873683040826737, + "episode_index": 54, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_55_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_55_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7cdcf86108bbd488b459eec3132c7216e2c11aab --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_55_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 55, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20300335420984866, + -0.028247105041641896, + 0.9952261726915036 + ], + "current_z": 0.9952261726915036, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.13863954607364848, + "gripper_z": 0.9984226154856254, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1981541980000988, + -0.03292165454067324, + 0.9984226154856254 + ], + "object_minus_gripper": [ + 0.00484915620974985, + 0.004674549499031341, + -0.00319644279412179 + ], + "object_to_gripper_xy": 0.00673540859677048, + "object_to_gripper_z": -0.00319644279412179, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20300335420984866, + -0.0525190443088108, + 0.9952261726915036 + ], + "finger_b": [ + 0.19159139122644084, + -0.028247105041641896, + 0.9952261726915036 + ], + "finger_midpoint": [ + 0.19729737271814474, + -0.040383074675226345, + 0.9952261726915036 + ], + "object_minus_finger_midpoint": [ + 0.0057059814917039264, + 0.012135969633584449, + 0.0 + ], + "finger_gap": 0.02682088616962173, + "fingertip_max_gap": 0.09208943430681668, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013410443084810868, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952261726915036, + "object_top_z": 1.0408420862604797, + "finger_top_clearance": 0.045615913568976096, + "fingertip_min_top_clearance": 0.013684774070692829, + "object_projection_between_fingers": 0.8189600326455982, + "object_to_finger_line_xy": 0.010327416875814625, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04854471715340834, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4445703169581467, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3437178196396312, + 0.3537649865911908, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33617730446348304, + 0.3170046268603005, + 1.0159865313573808 + ], + "target_minus_gripper": [ + 0.007540515176148177, + 0.03676035973089031, + -0.2548801425519044 + ], + "held_position": [ + 0.3411127171399725, + 0.32146528036493394, + 1.0126188851720626 + ], + "held_minus_target": [ + -0.002605102499658729, + -0.032299706226256886, + 0.2515124963665861 + ], + "held_minus_gripper": [ + 0.004935412676489448, + 0.004460653504633427, + -0.0033676461853182627 + ], + "xy_dist": 0.03752577003428688, + "held_xy_dist": 0.032404591979165946, + "held_gripper_dist": 0.00745632408128428, + "max_held_gripper_dist": 0.00746240302111307, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0126188851720626, + "required_height": 0.7911063888054765, + "gripper_z": 1.0159865313573808, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20121388206363, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4568546082422065, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3475324582746735, + "max_source_tilt_deg": 89.63536738983765, + "source_upright_tilt_deg": 2.290318515337906, + "max_source_upright_tilt_deg": 89.78934873577448, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3475324582746735, + "source_upright_return_tilt_deg": 2.290318515337906, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3437, + 0.3538, + 0.7611 + ], + "controller_target_position": [ + 0.3437, + 0.3538, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0017, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3452, + 0.3267, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0644, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014679006814195608, + -0.0016882310864355424, + -0.0019896343378260936 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.290613534221131, + "source_return_step_error_deg": 2.3477855214056427, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3494499417749557, + "source_return_best_wrist_position": -1.612823486328125, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612823486328125 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3437, + 0.3538, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3437, + 0.3538, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0017, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3452, + 0.3267, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0644, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014679006814195608, + -0.0016882310864355424, + -0.0019896343378260936 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.290613534221131, + "pour_controller_source_return_step_error_deg": 2.3477855214056427, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3494499417749557, + "pour_controller_source_return_best_wrist_position": -1.612823486328125, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612823486328125, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03752577003428688, + "valid_pour_held_xy_dist": 0.032404591979165946, + "valid_pour_held_gripper_dist": 0.00745632408128428, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0126188851720626, + "valid_pour_source_tilt_deg": 2.3475324582746735, + "valid_pour_source_upright_tilt_deg": 2.290318515337906, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3411127171399725, + 0.29756128693189027, + 1.0126188851720626 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33009876388364623, + 0.32146528036493394, + 1.0126188851720626 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33560574051180936, + 0.30951328364841213, + 1.0126188851720626 + ], + "valid_pour_held_grasp_object_position": [ + 0.3411127171399725, + 0.32146528036493394, + 1.0126188851720626 + ], + "valid_pour_held_grasp_finger_gap": 0.026319347795481837, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02399623473373217, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010108674749502628, + -0.9992011723673113, + 0.038663055163806526 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00564636671078876, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033313444070119116, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3411127171399725, + 0.29756128693189027, + 1.0126188851720626 + ], + "held_grasp_finger_b": [ + 0.33009876388364623, + 0.32146528036493394, + 1.0126188851720626 + ], + "held_grasp_midpoint": [ + 0.33560574051180936, + 0.30951328364841213, + 1.0126188851720626 + ], + "held_grasp_object_position": [ + 0.3411127171399725, + 0.32146528036493394, + 1.0126188851720626 + ], + "held_grasp_finger_gap": 0.026319347795481837, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02399623473373217, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010108674749502628, + -0.9992011723673113, + 0.038663055163806526 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00564636671078876, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033313444070119116, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18559605152539252, + -0.03706704673491483, + 0.7565864505983615 + ], + "target_position": [ + 0.18218109030808932, + -0.029090467852358377, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008676852585202222, + "xy_threshold": 0.08, + "gripper_dist": 0.2184769837614444, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864505983615, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539161397968337, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502585888720128, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18786403837543816, + "release_required_pad_clearance": 0.05251292944360064, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0969131033309358, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3525379492978055, + 0.35017744597928036, + 1.1636558586650296 + ], + "current_z": 1.1636558586650296, + "required_z": 0.861106508014766, + "initial_z": 0.761106508014766, + "lift_margin": 0.30254935065026367, + "gripper_z": 1.15249137117375, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3476496412410709, + 0.3455467531793279, + 1.15249137117375 + ], + "object_minus_gripper": [ + 0.004888308056734625, + 0.0046306927999524294, + 0.01116448749127974 + ], + "object_to_gripper_xy": 0.006733414547246287, + "object_to_gripper_z": 0.01116448749127974, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3525379492978055, + 0.32606943069231925, + 1.1636558586650296 + ], + "finger_b": [ + 0.3420986227086415, + 0.35017744597928036, + 1.1636558586650296 + ], + "finger_midpoint": [ + 0.3473182860032235, + 0.33812343833579983, + 1.1636558586650296 + ], + "object_minus_finger_midpoint": [ + 0.005219663294582011, + 0.012054007643480524, + 0.0 + ], + "finger_gap": 0.02627119983387849, + "fingertip_max_gap": 0.09050510792951169, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01313559991693922, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636558586650296, + "object_top_z": 1.2136112294227206, + "finger_top_clearance": 0.049955370757690964, + "fingertip_min_top_clearance": 0.014986611227307288, + "object_projection_between_fingers": 0.8420989008645127, + "object_to_finger_line_xy": 0.009579746893501185, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04775255396475585, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.19832212207747185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33394095824325004, + -0.36309536735502324, + 0.8515395959965313 + ], + "target_position": [ + 0.3271996482297285, + -0.3642381586718505, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006837487308377346, + "xy_threshold": 0.08, + "gripper_dist": 0.18576732773450297, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395959965313, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07542295970703297, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08507935618140093, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15406819543753597, + "release_required_pad_clearance": 0.05253967809070047, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.14803746695944583, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008587896823883057, + "max_z_decrease": 0.008587896823883057, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499650398413445, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008587896823883057, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021154391615524286, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008587896823883057, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008588435985788699, + "max_button_displacement": 0.12, + "button_start": [ + 0.1828995794057846, + -0.42049962282180786, + 0.7768088579177856 + ], + "button_final": [ + 0.1828995794057846, + -0.42049962282180786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1831957843047722, + -0.4194604365040342, + 0.8032015015353485 + ], + "closest_button": [ + 0.18281853199005127, + -0.4204477369785309, + 0.7682209610939026 + ], + "closest_ee_minus_button": [ + 0.00037725231472093834, + 0.0009873004744966885, + 0.03498054044144594 + ], + "button_min_z_position": [ + 0.18281853199005127, + -0.4204477369785309, + 0.7682209610939026 + ], + "min_active_finger_to_button": 0.14530318275087067, + "closest_active_finger": [ + 0.055769145488739014, + -0.4816458523273468, + 0.808051586151123 + ], + "closest_active_finger_button": [ + 0.1829168051481247, + -0.42050695419311523, + 0.7732877731323242 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12714765965938568, + -0.06113889813423157, + 0.03476381301879883 + ], + "min_contact_pad_to_button": 0.021154391615524286, + "closest_contact_pad": [ + 0.18281853199005127, + -0.42073036626216453, + 0.7893734646173864 + ], + "closest_contact_pad_button": [ + 0.18281853199005127, + -0.4204477369785309, + 0.7682209610939026 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0002826292836336508, + 0.021152503523483857 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 55, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "94dba22b80e25c8c622c3572cc9fbd3493803a6fa5660f48137318c8bd72af23", + "visual_seed": 6210747227203563244, + "episode_index": 55, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_56_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_56_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7e1dc52a8ba05ef3092d65695e6e412982b0706a --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_56_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 56, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20394848559016004, + -0.03557483804513522, + 0.9969240648716067 + ], + "current_z": 0.9969240648716067, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.14033749785839633, + "gripper_z": 1.000038730481881, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1991688689643215, + -0.040161620633725026, + 1.000038730481881 + ], + "object_minus_gripper": [ + 0.004779616625838534, + 0.004586782588589806, + -0.003114665610274292 + ], + "object_to_gripper_xy": 0.00662444787170846, + "object_to_gripper_z": -0.003114665610274292, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20394848559016004, + -0.05993666296093275, + 0.9969240648716067 + ], + "finger_b": [ + 0.19283222971468109, + -0.03557483804513522, + 0.9969240648716067 + ], + "finger_midpoint": [ + 0.19839035765242058, + -0.04775575050303399, + 0.9969240648716067 + ], + "object_minus_finger_midpoint": [ + 0.0055581279377394655, + 0.01218091245789877, + 0.0 + ], + "finger_gap": 0.026778156357693744, + "fingertip_max_gap": 0.09225384103050316, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01338907817884687, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9969240648716067, + "object_top_z": 1.0425295638507204, + "finger_top_clearance": 0.0456054989791137, + "fingertip_min_top_clearance": 0.01368164969373411, + "object_projection_between_fingers": 0.8276720492566043, + "object_to_finger_line_xy": 0.01011317865726838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04862692051525158, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6931470116567118, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.340621000715681, + 0.35674927194580497, + 0.761106508014766 + ], + "gripper_position": [ + 0.33286531585747803, + 0.3198848059997377, + 1.0163634119025806 + ], + "target_minus_gripper": [ + 0.007755684858202994, + 0.03686446594606729, + -0.25525690388781463 + ], + "held_position": [ + 0.33766995631741414, + 0.3243289137583267, + 1.0130846514779377 + ], + "held_minus_target": [ + -0.0029510443982668777, + -0.03242035818747829, + 0.2519781434631717 + ], + "held_minus_gripper": [ + 0.004804640459936116, + 0.004444107758589, + -0.0032787604246429236 + ], + "xy_dist": 0.037671467944699395, + "held_xy_dist": 0.032554389689332726, + "held_gripper_dist": 0.007320173060892121, + "max_held_gripper_dist": 0.007328651311727361, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.0130846514779377, + "required_height": 0.791106508014766, + "gripper_z": 1.0163634119025806, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20391863697495, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.1853261475078507, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2661072504017503, + "max_source_tilt_deg": 89.92490649324316, + "source_upright_tilt_deg": 2.704817659086436, + "max_source_upright_tilt_deg": 89.97626645726395, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2661072504017503, + "source_upright_return_tilt_deg": 2.704817659086436, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0745380149674383e-07, + "max_target_xy_drift": 1.812804499357408e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3406, + 0.3567, + 0.7611 + ], + "controller_target_position": [ + 0.3406, + 0.3567, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0009, + -0.0015, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3397, + 0.3299, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0678, + 0.0654, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008974524969974208, + -0.0014568670527263343, + 0.00014432384214900854 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.704557593789196, + "source_return_step_error_deg": 2.265841453353402, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.715962576928443, + "source_return_best_wrist_position": -1.6129143238067627, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129143238067627 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3406, + 0.3567, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3406, + 0.3567, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0009, + -0.0015, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3397, + 0.3299, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0678, + 0.0654, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0008974524969974208, + -0.0014568670527263343, + 0.00014432384214900854 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.704557593789196, + "pour_controller_source_return_step_error_deg": 2.265841453353402, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.715962576928443, + "pour_controller_source_return_best_wrist_position": -1.6129143238067627, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129143238067627, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037671467944699395, + "valid_pour_held_xy_dist": 0.032554389689332726, + "valid_pour_held_gripper_dist": 0.007320173060892121, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.0130846514779377, + "valid_pour_source_tilt_deg": 2.2661072504017503, + "valid_pour_source_upright_tilt_deg": 2.704817659086436, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0745380149674383e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33766995631741414, + 0.30054923024791363, + 1.0130846514779377 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3266449685648952, + 0.3243289137583267, + 1.0130846514779377 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3321574624411547, + 0.31243907200312016, + 1.0130846514779377 + ], + "valid_pour_held_grasp_object_position": [ + 0.33766995631741414, + 0.3243289137583267, + 1.0130846514779377 + ], + "valid_pour_held_grasp_finger_gap": 0.02621113699934824, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024062989371587035, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02809965171831349, + -0.9988859206280497, + 0.03791209759909375 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005861549276007338, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03347852859606171, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33766995631741414, + 0.30054923024791363, + 1.0130846514779377 + ], + "held_grasp_finger_b": [ + 0.3266449685648952, + 0.3243289137583267, + 1.0130846514779377 + ], + "held_grasp_midpoint": [ + 0.3321574624411547, + 0.31243907200312016, + 1.0130846514779377 + ], + "held_grasp_object_position": [ + 0.33766995631741414, + 0.3243289137583267, + 1.0130846514779377 + ], + "held_grasp_finger_gap": 0.02621113699934824, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024062989371587035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02809965171831349, + -0.9988859206280497, + 0.03791209759909375 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005861549276007338, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03347852859606171, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.180618645893607, + -0.037473922615517, + 0.756587018986148 + ], + "target_position": [ + 0.1829436317125108, + -0.0370740100442397, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002359128890664821, + "xy_threshold": 0.08, + "gripper_dist": 0.21471126950996655, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756587018986148, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07541440840807793, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562864497897689, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18640175659153813, + "release_required_pad_clearance": 0.05281432248948845, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6702634435002889, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 290, + "max_placed_release_frames": 290 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.349709147025848, + 0.3542985852149983, + 1.1641214586214768 + ], + "current_z": 1.1641214586214768, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.303014891002066, + "gripper_z": 1.1529146721086878, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34490927160800905, + 0.34955593743822333, + 1.1529146721086878 + ], + "object_minus_gripper": [ + 0.004799875417838939, + 0.004742647776774966, + 0.011206786512788947 + ], + "object_to_gripper_xy": 0.00674770419930535, + "object_to_gripper_z": 0.011206786512788947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.349709147025848, + 0.3306072437477432, + 1.1641214586214768 + ], + "finger_b": [ + 0.33861725471586673, + 0.3542985852149983, + 1.1641214586214768 + ], + "finger_midpoint": [ + 0.3441632008708574, + 0.3424529144813707, + 1.1641214586214768 + ], + "object_minus_finger_midpoint": [ + 0.0055459461549906, + 0.011845670733627578, + 0.0 + ], + "finger_gap": 0.02615931450811168, + "fingertip_max_gap": 0.09065925960536073, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013079657254055854, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641214586214768, + "object_top_z": 1.2141879602067944, + "finger_top_clearance": 0.05006650158531767, + "fingertip_min_top_clearance": 0.0150199504755953, + "object_projection_between_fingers": 0.8202128822262618, + "object_to_finger_line_xy": 0.010045439384594812, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047829629802680365, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.29143536696986455, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 380, + "max_stable_success_frames": 380, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33245345891570344, + -0.36758682816534916, + 0.8515395739226029 + ], + "target_position": [ + 0.32837130298957107, + -0.36768215874617505, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0040832689018601535, + "xy_threshold": 0.08, + "gripper_dist": 0.18185969905013963, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395739226029, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573614896256775, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08748678804924263, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1493622786111913, + "release_required_pad_clearance": 0.05374339402462132, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.4960759731346855, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008505940437316895, + "max_z_decrease": 0.008505940437316895, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499555194517008, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008505940437316895, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021050635994804966, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008505940437316895, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008506405432194634, + "max_button_displacement": 0.12, + "button_start": [ + 0.1840712279081344, + -0.4239436089992523, + 0.7768088579177856 + ], + "button_final": [ + 0.1840712279081344, + -0.4239436089992523, + 0.7768088579177856 + ], + "closest_ee": [ + 0.184614140895159, + -0.4234693761644574, + 0.8046039728144311 + ], + "closest_button": [ + 0.18397863209247584, + -0.4239503741264343, + 0.76961749792099 + ], + "closest_ee_minus_button": [ + 0.0006355088026831768, + 0.00048099796197692557, + 0.03498647489344109 + ], + "button_min_z_position": [ + 0.1839837431907653, + -0.4239275753498077, + 0.7683029174804688 + ], + "min_active_finger_to_button": 0.14531764228001892, + "closest_active_finger": [ + 0.05787767469882965, + -0.4871665835380554, + 0.8105718493461609 + ], + "closest_active_finger_button": [ + 0.1840799897909164, + -0.4239502549171448, + 0.7760191559791565 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12620231509208674, + -0.06321632862091064, + 0.034552693367004395 + ], + "min_contact_pad_to_button": 0.021050635994804966, + "closest_contact_pad": [ + 0.1839837431907653, + -0.424520162876314, + 0.7893452109821099 + ], + "closest_contact_pad_button": [ + 0.1839837431907653, + -0.4239275753498077, + 0.7683029174804688 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0005925875265063163, + 0.021042293501641107 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 56, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2862b666e4469c1aa231da7de72b746c84d3063a057bf2c5cb243c048c2c428a", + "visual_seed": 6555069050600693744, + "episode_index": 56, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_57_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_57_success.json new file mode 100644 index 0000000000000000000000000000000000000000..4ea8f448686a6323cacf455ba1e7647471ec00c0 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_57_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 57, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20311348081815034, + -0.032038502540664295, + 0.9956842535428848 + ], + "current_z": 0.9956842535428848, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13909774613431924, + "gripper_z": 0.9987513923775241, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19836388214776798, + -0.03663975153923897, + 0.9987513923775241 + ], + "object_minus_gripper": [ + 0.0047495986703823545, + 0.0046012489985746766, + -0.0030671388346392714 + ], + "object_to_gripper_xy": 0.006612879847432758, + "object_to_gripper_z": -0.0030671388346392714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20311348081815034, + -0.05629395258191065, + 0.9956842535428848 + ], + "finger_b": [ + 0.1918536082729069, + -0.032038502540664295, + 0.9956842535428848 + ], + "finger_midpoint": [ + 0.19748354454552863, + -0.04416622756128748, + 0.9956842535428848 + ], + "object_minus_finger_midpoint": [ + 0.005629936272621705, + 0.012127725020623183, + 0.0 + ], + "finger_gap": 0.026741570380935466, + "fingertip_max_gap": 0.09180598881174504, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337078519046773, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9956842535428848, + "object_top_z": 1.0412415697394812, + "finger_top_clearance": 0.04555731619659642, + "fingertip_min_top_clearance": 0.013667194858978925, + "object_projection_between_fingers": 0.8227063689926298, + "object_to_finger_line_xy": 0.01021306049351018, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04840299440587252, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.336834754802235, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3438341381039103, + 0.3508130665586895, + 0.7611065080147658 + ], + "gripper_position": [ + 0.33613769445385766, + 0.3155660486190407, + 1.0168197545374071 + ], + "target_minus_gripper": [ + 0.00769644365005262, + 0.035247017939648795, + -0.2557132465226414 + ], + "held_position": [ + 0.34089470632184593, + 0.3200508021404526, + 1.0135937926089968 + ], + "held_minus_target": [ + -0.00293943178206435, + -0.030762264418236873, + 0.2524872845942311 + ], + "held_minus_gripper": [ + 0.00475701186798827, + 0.004484753521411922, + -0.0032259619284102925 + ], + "xy_dist": 0.036077520958297, + "held_xy_dist": 0.03090238132149256, + "held_gripper_dist": 0.007290336509623581, + "max_held_gripper_dist": 0.007294650068991685, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147658, + "held_z": 1.0135937926089968, + "required_height": 0.7911065080147658, + "gripper_z": 1.0168197545374071, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19885746679998, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.484376391594145, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1577916808950697, + "max_source_tilt_deg": 89.91888978198156, + "source_upright_tilt_deg": 2.6273373559318656, + "max_source_upright_tilt_deg": 89.86515666082906, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1577916808950697, + "source_upright_return_tilt_deg": 2.6273373559318656, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.2644054553268208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3438, + 0.3508, + 0.7611 + ], + "controller_target_position": [ + 0.3438, + 0.3508, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0003, + 0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3427, + 0.3258, + 1.0271 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0653, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001122134040745534, + 0.0003386224490399309, + 0.0005886247290440615 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.627352499877601, + "source_return_step_error_deg": 2.1577986387891146, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6275676198074964, + "source_return_best_wrist_position": -1.6126233339309692, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126233339309692 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3438, + 0.3508, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3438, + 0.3508, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0003, + 0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3427, + 0.3258, + 1.0271 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0653, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001122134040745534, + 0.0003386224490399309, + 0.0005886247290440615 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.627352499877601, + "pour_controller_source_return_step_error_deg": 2.1577986387891146, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6275676198074964, + "pour_controller_source_return_best_wrist_position": -1.6126233339309692, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126233339309692, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036077520958297, + "valid_pour_held_xy_dist": 0.03090238132149256, + "valid_pour_held_gripper_dist": 0.007290336509623581, + "valid_pour_required_height": 0.7911065080147658, + "valid_pour_held_z": 1.0135937926089968, + "valid_pour_source_tilt_deg": 2.1577916808950697, + "valid_pour_source_upright_tilt_deg": 2.6273373559318656, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34089470632184593, + 0.2964368970466768, + 1.0135937926089968 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32963461352861534, + 0.3200508021404526, + 1.0135937926089968 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33526465992523063, + 0.3082438495935647, + 1.0135937926089968 + ], + "valid_pour_held_grasp_object_position": [ + 0.34089470632184593, + 0.3200508021404526, + 1.0135937926089968 + ], + "valid_pour_held_grasp_finger_gap": 0.02616115829794267, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02388386284332585, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.026179194760510442, + -0.9989488222042567, + 0.03762845171435425 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005953605496922473, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03355307370640326, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34089470632184593, + 0.2964368970466768, + 1.0135937926089968 + ], + "held_grasp_finger_b": [ + 0.32963461352861534, + 0.3200508021404526, + 1.0135937926089968 + ], + "held_grasp_midpoint": [ + 0.33526465992523063, + 0.3082438495935647, + 1.0135937926089968 + ], + "held_grasp_object_position": [ + 0.34089470632184593, + 0.3200508021404526, + 1.0135937926089968 + ], + "held_grasp_finger_gap": 0.02616115829794267, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02388386284332585, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.026179194760510442, + -0.9989488222042567, + 0.03762845171435425 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005953605496922473, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03355307370640326, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18728990446096105, + -0.027123549889735456, + 0.7565885099011217 + ], + "target_position": [ + 0.18186940604636168, + -0.03563115169269985, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010087670271201244, + "xy_threshold": 0.08, + "gripper_dist": 0.2187178301941566, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565885099011217, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582975757594687, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08574417728463575, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19077829994990766, + "release_required_pad_clearance": 0.05287208864231788, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7843401524974191, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 293, + "max_placed_release_frames": 293 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3526548583173397, + 0.3496506553520734, + 1.1636373417993244 + ], + "current_z": 1.1636373417993244, + "required_z": 0.8611065080147657, + "initial_z": 0.7611065080147658, + "lift_margin": 0.3025308337845587, + "gripper_z": 1.1525304538367829, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3478767557730069, + 0.3448611902711363, + 1.1525304538367829 + ], + "object_minus_gripper": [ + 0.004778102544332807, + 0.004789465080937083, + 0.011106887962541556 + ], + "object_to_gripper_xy": 0.006765296718228647, + "object_to_gripper_z": 0.011106887962541556, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3526548583173397, + 0.32584830190518704, + 1.1636373417993244 + ], + "finger_b": [ + 0.34168095776718255, + 0.3496506553520734, + 1.1636373417993244 + ], + "finger_midpoint": [ + 0.34716790804226116, + 0.33774947862863025, + 1.1636373417993244 + ], + "object_minus_finger_midpoint": [ + 0.0054869502750785615, + 0.011901176723443152, + 0.0 + ], + "finger_gap": 0.026210275139632606, + "fingertip_max_gap": 0.09033713177418048, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013105137569816266, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1636373417993244, + "object_top_z": 1.2135648881786032, + "finger_top_clearance": 0.049927546379278764, + "fingertip_min_top_clearance": 0.014978263913783629, + "object_projection_between_fingers": 0.8247012253349529, + "object_to_finger_line_xy": 0.009965735124651712, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047668565887090245, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.21289126768393107, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3339980659620437, + -0.368842060451766, + 0.8515395933491136 + ], + "target_position": [ + 0.3280393819192812, + -0.3698343935932312, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006040748346448654, + "xy_threshold": 0.08, + "gripper_dist": 0.1829694369535901, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395933491136, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07533413483616669, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08734976680140587, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.151435066093996, + "release_required_pad_clearance": 0.053674883400702936, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.3593709351522123, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008582353591918945, + "max_z_decrease": 0.008582353591918945, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500744274802056, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008582353591918945, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021336655332601314, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008582353591918945, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008583651413992985, + "max_button_displacement": 0.12, + "button_start": [ + 0.18373930454254145, + -0.42609584331512446, + 0.7768088579177856 + ], + "button_final": [ + 0.18373930454254145, + -0.42609584331512446, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18431724547087056, + -0.4272510308243526, + 0.8039666263233979 + ], + "closest_button": [ + 0.183986485004425, + -0.4261712431907653, + 0.7689774036407471 + ], + "closest_ee_minus_button": [ + 0.0003307604664455621, + -0.0010797876335872925, + 0.03498922268265081 + ], + "button_min_z_position": [ + 0.18360857665538782, + -0.42602381110191334, + 0.7682265043258667 + ], + "min_active_finger_to_button": 0.1452055360469724, + "closest_active_finger": [ + 0.043717704713344574, + -0.4100736379623413, + 0.8078080415725708 + ], + "closest_active_finger_button": [ + 0.18375727534294123, + -0.4261024892330169, + 0.7729276418685913 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14003957062959665, + 0.016028851270675604, + 0.03488039970397949 + ], + "min_contact_pad_to_button": 0.021336655332601314, + "closest_contact_pad": [ + 0.183986485004425, + -0.42856691941262276, + 0.7901791393296536 + ], + "closest_contact_pad_button": [ + 0.183986485004425, + -0.4261712431907653, + 0.7689774036407471 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023956762218574346, + 0.021201735688906487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 57, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c55d75ea5cb8c37b55e95241efbfa5ba4afae4e1b9a926595934536dc14aa1d3", + "visual_seed": 7002565674224384234, + "episode_index": 57, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_58_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_58_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ec8b1ba2b3d3ab7f233ba421d5ad9961ca48c222 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_58_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 58, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20611510597723665, + -0.030676050233110406, + 0.9953727466996579 + ], + "current_z": 0.9953727466996579, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13878623929109235, + "gripper_z": 0.9987772933674889, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2014547210343798, + -0.035300699155420584, + 0.9987772933674889 + ], + "object_minus_gripper": [ + 0.004660384942856838, + 0.004624648922310178, + -0.0034045466678309655 + ], + "object_to_gripper_xy": 0.006565559037144623, + "object_to_gripper_z": -0.0034045466678309655, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20611510597723665, + -0.054740754816908245, + 0.9953727466996579 + ], + "finger_b": [ + 0.19466344324910434, + -0.030676050233110406, + 0.9953727466996579 + ], + "finger_midpoint": [ + 0.2003892746131705, + -0.04270840252500933, + 0.9953727466996579 + ], + "object_minus_finger_midpoint": [ + 0.005725831364066153, + 0.012032352291898921, + 0.0 + ], + "finger_gap": 0.02665052693558526, + "fingertip_max_gap": 0.0920056122390373, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013325263467792631, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9953727466996579, + "object_top_z": 1.0408643245097093, + "finger_top_clearance": 0.04549157781005142, + "fingertip_min_top_clearance": 0.013647473343015425, + "object_projection_between_fingers": 0.8153601252373076, + "object_to_finger_line_xy": 0.010340541528948971, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048502806119518654, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5810767498236016, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3401662172760449, + 0.3559136744306988, + 0.7611063888054767 + ], + "gripper_position": [ + 0.3326602007992289, + 0.3193697163523863, + 1.0157799974789496 + ], + "target_minus_gripper": [ + 0.00750601647681598, + 0.03654395807831251, + -0.254673608673473 + ], + "held_position": [ + 0.33738502609749754, + 0.3238029517477667, + 1.0122133175463568 + ], + "held_minus_target": [ + -0.0027811911785473598, + -0.032110722682932136, + 0.25110692874088014 + ], + "held_minus_gripper": [ + 0.00472482529826862, + 0.004433235395380375, + -0.0035666799325928533 + ], + "xy_dist": 0.03730685131955919, + "held_xy_dist": 0.032230940656329005, + "held_gripper_dist": 0.007395860728243407, + "max_held_gripper_dist": 0.0074012119473768545, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0122133175463568, + "required_height": 0.7911063888054767, + "gripper_z": 1.0157799974789496, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19526478729655, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.167369875304835, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.152077289970516, + "max_source_tilt_deg": 89.81058521740506, + "source_upright_tilt_deg": 2.477697265948207, + "max_source_upright_tilt_deg": 89.89565080842036, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.152077289970516, + "source_upright_return_tilt_deg": 2.477697265948207, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3402, + 0.3559, + 0.7611 + ], + "controller_target_position": [ + 0.3402, + 0.3559, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + -0.0003, + -0.0019 + ], + "controller_last_pour_pose_position": [ + 0.3401, + 0.3301, + 1.0247 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0649, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.70588193800871e-05, + -0.00029042966557033304, + -0.0018590388807893116 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4776923382058516, + "source_return_step_error_deg": 2.152075686856831, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4768704252449227, + "source_return_best_wrist_position": -1.612439751625061, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612439751625061 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3402, + 0.3559, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3402, + 0.3559, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + -0.0003, + -0.0019 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3401, + 0.3301, + 1.0247 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0649, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -8.70588193800871e-05, + -0.00029042966557033304, + -0.0018590388807893116 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4776923382058516, + "pour_controller_source_return_step_error_deg": 2.152075686856831, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4768704252449227, + "pour_controller_source_return_best_wrist_position": -1.612439751625061, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612439751625061, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03730685131955919, + "valid_pour_held_xy_dist": 0.032230940656329005, + "valid_pour_held_gripper_dist": 0.007395860728243407, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0122133175463568, + "valid_pour_source_tilt_deg": 2.152077289970516, + "valid_pour_source_upright_tilt_deg": 2.477697265948207, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33738502609749754, + 0.30018961038296393, + 1.0122133175463568 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32621514972984283, + 0.3238029517477667, + 1.0122133175463568 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3318000879136702, + 0.3119962810653653, + 1.0122133175463568 + ], + "valid_pour_held_grasp_object_position": [ + 0.33738502609749754, + 0.3238029517477667, + 1.0122133175463568 + ], + "valid_pour_held_grasp_finger_gap": 0.02612194534255433, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02379452239809924, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.018196827102562332, + -0.9990651354511129, + 0.03921390836742966 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005817151945049559, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033506220075780364, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33738502609749754, + 0.30018961038296393, + 1.0122133175463568 + ], + "held_grasp_finger_b": [ + 0.32621514972984283, + 0.3238029517477667, + 1.0122133175463568 + ], + "held_grasp_midpoint": [ + 0.3318000879136702, + 0.3119962810653653, + 1.0122133175463568 + ], + "held_grasp_object_position": [ + 0.33738502609749754, + 0.3238029517477667, + 1.0122133175463568 + ], + "held_grasp_finger_gap": 0.02612194534255433, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02379452239809924, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.018196827102562332, + -0.9990651354511129, + 0.03921390836742966 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005817151945049559, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033506220075780364, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19724164360769153, + -0.036035257360641795, + 0.7565863210226667 + ], + "target_position": [ + 0.18499515674109368, + -0.03221005416554422, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012829989090312521, + "xy_threshold": 0.08, + "gripper_dist": 0.22397623383608736, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863210226667, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07551761534191051, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08502559941094186, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19333745811389697, + "release_required_pad_clearance": 0.05251279970547093, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.09691328262024398, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34906745756844076, + 0.3530887808358177, + 1.1649752868100474 + ], + "current_z": 1.1649752868100474, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.30386889800457084, + "gripper_z": 1.1538720278952284, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3442052807415451, + 0.34836532750581345, + 1.1538720278952284 + ], + "object_minus_gripper": [ + 0.004862176826895659, + 0.004723453330004235, + 0.011103258914819003 + ], + "object_to_gripper_xy": 0.00677877384611179, + "object_to_gripper_z": 0.011103258914819003, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34906745756844076, + 0.3291690450222443, + 1.1649752868100474 + ], + "finger_b": [ + 0.3382672434773303, + 0.3530887808358177, + 1.1649752868100474 + ], + "finger_midpoint": [ + 0.34366735052288555, + 0.341128912929031, + 1.1649752868100474 + ], + "object_minus_finger_midpoint": [ + 0.005400107045555214, + 0.011959867906786659, + 0.0 + ], + "finger_gap": 0.02624496877127054, + "fingertip_max_gap": 0.0905978661052487, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013122484385635236, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1649752868100474, + "object_top_z": 1.214871684771253, + "finger_top_clearance": 0.04989639796120571, + "fingertip_min_top_clearance": 0.014968919388361679, + "object_projection_between_fingers": 0.8306549103225549, + "object_to_finger_line_xy": 0.009843344453592527, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779893305262435, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25168919700933595, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3360765190465741, + -0.3694353872504606, + 0.8515395854073392 + ], + "target_position": [ + 0.3284982651220569, + -0.37125197175016517, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0077929398681773196, + "xy_threshold": 0.08, + "gripper_dist": 0.1848557241808104, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395854073392, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07562116900457029, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08521434014639527, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527362092053221, + "release_required_pad_clearance": 0.05260717007319764, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2769528368634973, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008569478988647461, + "max_z_decrease": 0.008569478988647461, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035028462238698495, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008569478988647461, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021041941871543166, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008569478988647461, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00856983904635708, + "max_button_displacement": 0.12, + "button_start": [ + 0.18419818580150601, + -0.4275134205818175, + 0.7768088579177856 + ], + "button_final": [ + 0.18419818580150601, + -0.4275134205818175, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1821410055250832, + -0.4271573321154544, + 0.8038275059094068 + ], + "closest_button": [ + 0.18410818278789515, + -0.427504539489746, + 0.7688560485839844 + ], + "closest_ee_minus_button": [ + -0.0019671772628119533, + 0.00034720737429155824, + 0.034971457325422395 + ], + "button_min_z_position": [ + 0.18413175642490384, + -0.42747148871421803, + 0.7682393789291382 + ], + "min_active_finger_to_button": 0.14760623483981358, + "closest_active_finger": [ + 0.055023446679115295, + -0.4900236129760742, + 0.8104097247123718 + ], + "closest_active_finger_button": [ + 0.18420194089412684, + -0.427519530057907, + 0.7758589386940002 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12917849421501154, + -0.06250408291816723, + 0.03455078601837158 + ], + "min_contact_pad_to_button": 0.021041941871543166, + "closest_contact_pad": [ + 0.18413175642490384, + -0.4282679098711346, + 0.7892662434378142 + ], + "closest_contact_pad_button": [ + 0.18413175642490384, + -0.42747148871421803, + 0.7682393789291382 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0007964211569165824, + 0.02102686450867597 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 58, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "970e45af91e50ff1ba4ce33472222a80c5f7c90682d076c1800b13a12516716b", + "visual_seed": 8556681475672542576, + "episode_index": 58, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_59_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_59_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e10736158b27b180c800e35b64a9d8e51a91d47d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_59_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 59, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2021293245587057, + -0.02806162847992148, + 0.9949175579882903 + ], + "current_z": 0.9949175579882903, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13833105057972472, + "gripper_z": 0.9979255117181656, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19737734441092586, + -0.03258173884870899, + 0.9979255117181656 + ], + "object_minus_gripper": [ + 0.004751980147779833, + 0.004520110368787512, + -0.003007953729875279 + ], + "object_to_gripper_xy": 0.0065584078152333605, + "object_to_gripper_z": -0.003007953729875279, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2021293245587057, + -0.05242883547351018, + 0.9949175579882903 + ], + "finger_b": [ + 0.19122013335759724, + -0.02806162847992148, + 0.9949175579882903 + ], + "finger_midpoint": [ + 0.19667472895815147, + -0.04024523197671583, + 0.9949175579882903 + ], + "object_minus_finger_midpoint": [ + 0.005454595600554224, + 0.012183603496794353, + 0.0 + ], + "finger_gap": 0.02669777573751679, + "fingertip_max_gap": 0.09225068963873392, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013348887868758397, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949175579882903, + "object_top_z": 1.0406484886811636, + "finger_top_clearance": 0.04573093069287326, + "fingertip_min_top_clearance": 0.013719279207861994, + "object_projection_between_fingers": 0.8330313461528359, + "object_to_finger_line_xy": 0.009956878907949484, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048625344819366964, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4567329340520818, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.340492403694578, + 0.3557362016008802, + 0.7611062695961867 + ], + "gripper_position": [ + 0.33458051761980456, + 0.32071387096135434, + 1.0178411607490319 + ], + "target_minus_gripper": [ + 0.0059118860747734425, + 0.03502233063952587, + -0.2567348911528452 + ], + "held_position": [ + 0.3392930181491992, + 0.3251491824594819, + 1.0146480540084888 + ], + "held_minus_target": [ + -0.001199385545378795, + -0.03058701914139833, + 0.25354178441230213 + ], + "held_minus_gripper": [ + 0.004712500529394648, + 0.0044353114981275366, + -0.0031931067405430724 + ], + "xy_dist": 0.0355177989237139, + "held_xy_dist": 0.030610525406185557, + "held_gripper_dist": 0.007216341176903208, + "max_held_gripper_dist": 0.0072213834866859715, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961867, + "held_z": 1.0146480540084888, + "required_height": 0.7911062695961867, + "gripper_z": 1.0178411607490319, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20551690124074, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 2.203192987842604, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.195794327591395, + "max_source_tilt_deg": 89.87154557099183, + "source_upright_tilt_deg": 3.026206515641912, + "max_source_upright_tilt_deg": 89.78988945375761, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.195794327591395, + "source_upright_return_tilt_deg": 3.026206515641912, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3405, + 0.3557, + 0.7611 + ], + "controller_target_position": [ + 0.3405, + 0.3557, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0003, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3424, + 0.33, + 1.0279 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0683, + 0.066, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019286562494690374, + -0.0003324302472850649, + 0.0014538775580238386 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 3.0262080526287276, + "source_return_step_error_deg": 2.1958035273207135, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 3.026692270137603, + "source_return_best_wrist_position": -1.613010287284851, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613010287284851 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3405, + 0.3557, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3405, + 0.3557, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0003, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3424, + 0.33, + 1.0279 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0683, + 0.066, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0019286562494690374, + -0.0003324302472850649, + 0.0014538775580238386 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 3.0262080526287276, + "pour_controller_source_return_step_error_deg": 2.1958035273207135, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 3.026692270137603, + "pour_controller_source_return_best_wrist_position": -1.613010287284851, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613010287284851, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0355177989237139, + "valid_pour_held_xy_dist": 0.030610525406185557, + "valid_pour_held_gripper_dist": 0.007216341176903208, + "valid_pour_required_height": 0.7911062695961867, + "valid_pour_held_z": 1.0146480540084888, + "valid_pour_source_tilt_deg": 2.195794327591395, + "valid_pour_source_upright_tilt_deg": 3.026206515641912, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3392930181491992, + 0.3015386176736531, + 1.0146480540084888 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32815531121330876, + 0.3251491824594819, + 1.0146480540084888 + ], + "valid_pour_held_grasp_midpoint": [ + 0.333724164681254, + 0.3133439000665675, + 1.0146480540084888 + ], + "valid_pour_held_grasp_object_position": [ + 0.3392930181491992, + 0.3251491824594819, + 1.0146480540084888 + ], + "valid_pour_held_grasp_finger_gap": 0.026105694499392287, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023979247068914775, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03605833373631768, + -0.9986055026229014, + 0.038559651183887045 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006007886290900938, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033612208585105025, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3392930181491992, + 0.3015386176736531, + 1.0146480540084888 + ], + "held_grasp_finger_b": [ + 0.32815531121330876, + 0.3251491824594819, + 1.0146480540084888 + ], + "held_grasp_midpoint": [ + 0.333724164681254, + 0.3133439000665675, + 1.0146480540084888 + ], + "held_grasp_object_position": [ + 0.3392930181491992, + 0.3251491824594819, + 1.0146480540084888 + ], + "held_grasp_finger_gap": 0.026105694499392287, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023979247068914775, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03605833373631768, + -0.9986055026229014, + 0.038559651183887045 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006007886290900938, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033612208585105025, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18829776671628143, + -0.02344522699752002, + 0.7565863649633119 + ], + "target_position": [ + 0.18232684890460793, + -0.029164222302219617, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008267936067056631, + "xy_threshold": 0.08, + "gripper_dist": 0.21979666281406818, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863649633119, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07529997936148192, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08675236044813707, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19189386057722022, + "release_required_pad_clearance": 0.05337618022406854, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.768076362058841, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 301, + "max_placed_release_frames": 301 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3493664952924082, + 0.35305438653527965, + 1.16228545612072 + ], + "current_z": 1.16228545612072, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.3011791269198886, + "gripper_z": 1.151199688075982, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3445982765537408, + 0.34832649410244776, + 1.151199688075982 + ], + "object_minus_gripper": [ + 0.004768218738667396, + 0.004727892432831893, + 0.011085768044738042 + ], + "object_to_gripper_xy": 0.006714825150084547, + "object_to_gripper_z": 0.011085768044738042, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3493664952924082, + 0.32925481236238696, + 1.16228545612072 + ], + "finger_b": [ + 0.3384882161144413, + 0.35305438653527965, + 1.16228545612072 + ], + "finger_midpoint": [ + 0.34392735570342475, + 0.3411545994488333, + 1.16228545612072 + ], + "object_minus_finger_midpoint": [ + 0.005439139588983455, + 0.011899787086446345, + 0.0 + ], + "finger_gap": 0.026167856020025967, + "fingertip_max_gap": 0.0906278543371338, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013083928010012983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16228545612072, + "object_top_z": 1.212200664956481, + "finger_top_clearance": 0.04991520883576084, + "fingertip_min_top_clearance": 0.014974562650728251, + "object_projection_between_fingers": 0.8271839328782981, + "object_to_finger_line_xy": 0.009893757133611776, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478139271685669, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.22628730760970264, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32812449193686827, + -0.3687331914512249, + 0.8515395814547481 + ], + "target_position": [ + 0.32137414337356945, + -0.36986679676472073, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006844871564376962, + "xy_threshold": 0.08, + "gripper_dist": 0.18432132643821011, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395814547481, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559295016735255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08504135632452996, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15207317040092136, + "release_required_pad_clearance": 0.05252067816226498, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.11190581567251577, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008570432662963867, + "max_z_decrease": 0.008570432662963867, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035019525030302624, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008570432662963867, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021085434553853588, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008570432662963867, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008571619083278735, + "max_button_displacement": 0.12, + "button_start": [ + 0.17707407474517817, + -0.4261282682418824, + 0.7768088579177856 + ], + "button_final": [ + 0.17707407474517817, + -0.4261282682418824, + 0.7768088579177856 + ], + "closest_ee": [ + 0.176459296296588, + -0.42435290806061743, + 0.8039133256328499 + ], + "closest_button": [ + 0.1769802421331405, + -0.4261200726032257, + 0.7689422965049744 + ], + "closest_ee_minus_button": [ + -0.0005209458365525166, + 0.0017671645426082794, + 0.03497102912787553 + ], + "button_min_z_position": [ + 0.1769456416368484, + -0.4260662794113159, + 0.7682384252548218 + ], + "min_active_finger_to_button": 0.14581470404437563, + "closest_active_finger": [ + 0.04838649183511734, + -0.48527395725250244, + 0.8078637719154358 + ], + "closest_active_finger_button": [ + 0.17709210515022272, + -0.4261372387409211, + 0.7732279300689697 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12870561331510538, + -0.059136718511581365, + 0.034635841846466064 + ], + "min_contact_pad_to_button": 0.021085434553853588, + "closest_contact_pad": [ + 0.1769456416368484, + -0.4260662794113159, + 0.7893238598086754 + ], + "closest_contact_pad_button": [ + 0.1769456416368484, + -0.4260662794113159, + 0.7682384252548218 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021085434553853588 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 59, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "7dccfcc297834520942a122ec049f347ca6260eea75c47aad0577d6eb3149545", + "visual_seed": 6516415606818109676, + "episode_index": 59, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_5_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_5_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0d3bdadfffe4fd27eaf28a2a60fee4d38bdf7a96 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_5_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 5, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19988336164007803, + -0.03411738064813827, + 0.9984152588302282 + ], + "current_z": 0.9984152588302282, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14182875142166262, + "gripper_z": 1.0014141167131725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1952576348538908, + -0.03865262520321368, + 1.0014141167131725 + ], + "object_minus_gripper": [ + 0.004625726786187223, + 0.00453524455507541, + -0.0029988578829442947 + ], + "object_to_gripper_xy": 0.006478100915761589, + "object_to_gripper_z": -0.0029988578829442947, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19988336164007803, + -0.0583399270479403, + 0.9984152588302282 + ], + "finger_b": [ + 0.18867705632649176, + -0.03411738064813827, + 0.9984152588302282 + ], + "finger_midpoint": [ + 0.1942802089832849, + -0.046228653848039286, + 0.9984152588302282 + ], + "object_minus_finger_midpoint": [ + 0.00560315265679312, + 0.012111273199901018, + 0.0 + ], + "finger_gap": 0.026689193185105355, + "fingertip_max_gap": 0.09133280354481385, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013344596592552674, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9984152588302282, + "object_top_z": 1.0437291259024024, + "finger_top_clearance": 0.04531386707217422, + "fingertip_min_top_clearance": 0.013594160121652248, + "object_projection_between_fingers": 0.8236993105755789, + "object_to_finger_line_xy": 0.010170605328758275, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816640177240693, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2975673522478324, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34274602551121325, + 0.35260844786629153, + 0.7611063292008317 + ], + "gripper_position": [ + 0.3309634606379277, + 0.31558201811588227, + 1.0205377808269585 + ], + "target_minus_gripper": [ + 0.01178256487328555, + 0.03702642975040926, + -0.2594314516261268 + ], + "held_position": [ + 0.3356412499071514, + 0.3199917902711057, + 1.0174344078370716 + ], + "held_minus_target": [ + -0.007104775604061864, + -0.03261665759518584, + 0.25632807863623996 + ], + "held_minus_gripper": [ + 0.004677789269223687, + 0.004409772155223424, + -0.0031033729898868323 + ], + "xy_dist": 0.038855956236530514, + "held_xy_dist": 0.033381494709878806, + "held_gripper_dist": 0.007138538143248045, + "max_held_gripper_dist": 0.007144524126167296, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0174344078370716, + "required_height": 0.7911063292008317, + "gripper_z": 1.0205377808269585, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18237622033273, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4608012189604025, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1412181198924585, + "max_source_tilt_deg": 89.99274886520175, + "source_upright_tilt_deg": 2.4381166857995225, + "max_source_upright_tilt_deg": 89.76079124672819, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1412181198924585, + "source_upright_return_tilt_deg": 2.4381166857995225, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3427, + 0.3526, + 0.7611 + ], + "controller_target_position": [ + 0.3427, + 0.3526, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0019, + -0.001 + ], + "controller_last_pour_pose_position": [ + 0.3409, + 0.3254, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0676, + 0.0649, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017993227307733083, + -0.001886716234492746, + -0.0010340979768386164 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4381052766456675, + "source_return_step_error_deg": 2.1412052622413085, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.443259474550088, + "source_return_best_wrist_position": -1.612395167350769, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612395167350769 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3427, + 0.3526, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3427, + 0.3526, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0019, + -0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3409, + 0.3254, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0676, + 0.0649, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0017993227307733083, + -0.001886716234492746, + -0.0010340979768386164 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4381052766456675, + "pour_controller_source_return_step_error_deg": 2.1412052622413085, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.443259474550088, + "pour_controller_source_return_best_wrist_position": -1.612395167350769, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612395167350769, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.038855956236530514, + "valid_pour_held_xy_dist": 0.033381494709878806, + "valid_pour_held_gripper_dist": 0.007138538143248045, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0174344078370716, + "valid_pour_source_tilt_deg": 2.1412181198924585, + "valid_pour_source_upright_tilt_deg": 2.4381166857995225, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3356412499071514, + 0.29634815754839744, + 1.0174344078370716 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3246323308428246, + 0.3199917902711057, + 1.0174344078370716 + ], + "valid_pour_held_grasp_midpoint": [ + 0.330136790374988, + 0.30816997390975154, + 1.0174344078370716 + ], + "valid_pour_held_grasp_object_position": [ + 0.3356412499071514, + 0.3199917902711057, + 1.0174344078370716 + ], + "valid_pour_held_grasp_finger_gap": 0.026080982866663938, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023853388459786035, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02099741888960207, + -0.9990947605941681, + 0.03699686139737201 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00576791728632284, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03350468962103315, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3356412499071514, + 0.29634815754839744, + 1.0174344078370716 + ], + "held_grasp_finger_b": [ + 0.3246323308428246, + 0.3199917902711057, + 1.0174344078370716 + ], + "held_grasp_midpoint": [ + 0.330136790374988, + 0.30816997390975154, + 1.0174344078370716 + ], + "held_grasp_object_position": [ + 0.3356412499071514, + 0.3199917902711057, + 1.0174344078370716 + ], + "held_grasp_finger_gap": 0.026080982866663938, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023853388459786035, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02099741888960207, + -0.9990947605941681, + 0.03699686139737201 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00576791728632284, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03350468962103315, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17916515092027072, + -0.034521316964590765, + 0.7565864446344501 + ], + "target_position": [ + 0.17604581476639308, + -0.03596835262341597, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.003438629122019383, + "xy_threshold": 0.08, + "gripper_dist": 0.21550446585077582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864446344501, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07559684157597313, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08810636336021986, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.186706921083683, + "release_required_pad_clearance": 0.05405318168010993, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.118435759061343, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3515781422901697, + 0.34879158931521886, + 1.163444557273471 + ], + "current_z": 1.163444557273471, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30233822807263944, + "gripper_z": 1.15229860800217, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34676247922127434, + 0.3440697664583257, + 1.15229860800217 + ], + "object_minus_gripper": [ + 0.0048156630688953594, + 0.004721822856893154, + 0.011145949271301081 + ], + "object_to_gripper_xy": 0.006744347402454985, + "object_to_gripper_z": 0.011145949271301081, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3515781422901697, + 0.32486985458569356, + 1.163444557273471 + ], + "finger_b": [ + 0.3408198862011951, + 0.34879158931521886, + 1.163444557273471 + ], + "finger_midpoint": [ + 0.3461990142456824, + 0.3368307219504562, + 1.163444557273471 + ], + "object_minus_finger_midpoint": [ + 0.0053791280444873135, + 0.01196086736476265, + 0.0 + ], + "finger_gap": 0.02622955330434997, + "fingertip_max_gap": 0.09043727238760893, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013114776652174986, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163444557273471, + "object_top_z": 1.2133888746057317, + "finger_top_clearance": 0.04994431733226068, + "fingertip_min_top_clearance": 0.014983295199678203, + "object_projection_between_fingers": 0.8317705725102619, + "object_to_finger_line_xy": 0.009811686280988644, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771863619380447, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.15348903879249898, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3334737917980807, + -0.3671217914943561, + 0.8515395655141846 + ], + "target_position": [ + 0.32817268092101143, + -0.36781952158760284, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005346831193707542, + "xy_threshold": 0.08, + "gripper_dist": 0.182911468966279, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395655141846, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07587871744334053, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08674595228372477, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15026311182135826, + "release_required_pad_clearance": 0.053372976141862385, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7618677770315467, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00858849287033081, + "max_z_decrease": 0.00858849287033081, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035013216804230876, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00858849287033081, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021125413936916086, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00858849287033081, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008589191801412908, + "max_button_displacement": 0.12, + "button_start": [ + 0.1838726103305816, + -0.4240809679031372, + 0.7768088579177856 + ], + "button_final": [ + 0.1838726103305816, + -0.4240809679031372, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1840878193304038, + -0.4253648400055583, + 0.8042826564817662 + ], + "closest_button": [ + 0.18379047513008115, + -0.4240904152393341, + 0.7692939043045044 + ], + "closest_ee_minus_button": [ + 0.0002973442003226523, + -0.0012744247662241914, + 0.03498875217726183 + ], + "button_min_z_position": [ + 0.18377156555652616, + -0.4240385890007019, + 0.7682203650474548 + ], + "min_active_finger_to_button": 0.14566018791332463, + "closest_active_finger": [ + 0.04303155839443207, + -0.4105043411254883, + 0.8098257780075073 + ], + "closest_active_finger_button": [ + 0.18387983739376065, + -0.424089252948761, + 0.7752699851989746 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14084827899932859, + 0.013584911823272705, + 0.034555792808532715 + ], + "min_contact_pad_to_button": 0.021125413936916086, + "closest_contact_pad": [ + 0.18377156555652616, + -0.42628091539908197, + 0.7892264376534699 + ], + "closest_contact_pad_button": [ + 0.18377156555652616, + -0.4240385890007019, + 0.7682203650474548 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002242326398380068, + 0.021006072606015058 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 5, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "afc69f914ec3b820425e3cfec7d78b8453eac4c2cdcef17ec1abe4fdda8b8dab", + "visual_seed": 6465910058596212435, + "episode_index": 5, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_60_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_60_success.json new file mode 100644 index 0000000000000000000000000000000000000000..7eb40c812f97d161193dcfe7443379edd4206ab7 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_60_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 60, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2008441688748718, + -0.033355487662825097, + 0.9960263165536274 + ], + "current_z": 0.9960263165536274, + "required_z": 0.8565863285946312, + "initial_z": 0.7565863285946313, + "lift_margin": 0.13943998795899615, + "gripper_z": 0.9991528248753616, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1961028495981106, + -0.03795198891183442, + 0.9991528248753616 + ], + "object_minus_gripper": [ + 0.004741319276761191, + 0.004596501249009323, + -0.0031265083217342227 + ], + "object_to_gripper_xy": 0.006603630230133387, + "object_to_gripper_z": -0.0031265083217342227, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2008441688748718, + -0.057632840419760384, + 0.9960263165536274 + ], + "finger_b": [ + 0.1895497972906462, + -0.033355487662825097, + 0.9960263165536274 + ], + "finger_midpoint": [ + 0.195196983082759, + -0.04549416404129274, + 0.9960263165536274 + ], + "object_minus_finger_midpoint": [ + 0.005647185792112791, + 0.01213867637846764, + 0.0 + ], + "finger_gap": 0.026775972183419153, + "fingertip_max_gap": 0.0915790560651995, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013387986091709568, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9960263165536274, + "object_top_z": 1.0414346177161218, + "finger_top_clearance": 0.04540830116249439, + "fingertip_min_top_clearance": 0.0136224903487483, + "object_projection_between_fingers": 0.8220763630457716, + "object_to_finger_line_xy": 0.010240429039881732, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048289528032599754, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3216379951163588, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34325537700314135, + 0.3482958730028577, + 0.7611063888054763 + ], + "gripper_position": [ + 0.3357548460112315, + 0.31340486495647213, + 1.016738024066344 + ], + "target_minus_gripper": [ + 0.007500530991909837, + 0.03489100804638556, + -0.25563163526086763 + ], + "held_position": [ + 0.34058576395520956, + 0.31781049211144907, + 1.01347480695153 + ], + "held_minus_target": [ + -0.0026696130479317848, + -0.03048538089140862, + 0.2523684181460537 + ], + "held_minus_gripper": [ + 0.0048309179439780525, + 0.004405627154976943, + -0.003263217114813921 + ], + "xy_dist": 0.03568809896384987, + "held_xy_dist": 0.030602047021726333, + "held_gripper_dist": 0.00730725014957979, + "max_held_gripper_dist": 0.007313141146972166, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.01347480695153, + "required_height": 0.7911063888054763, + "gripper_z": 1.016738024066344, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20146659906293, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4925196808360288, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.357693142655431, + "max_source_tilt_deg": 89.58199543437514, + "source_upright_tilt_deg": 2.2650187672525712, + "max_source_upright_tilt_deg": 89.80769621690487, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.357693142655431, + "source_upright_return_tilt_deg": 2.2650187672525712, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3433, + 0.3483, + 0.7611 + ], + "controller_target_position": [ + 0.3433, + 0.3483, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0011, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3423, + 0.324, + 1.0266 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0643, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009971047014253097, + 0.0011287260838895533, + 0.00012148539734511531 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.265010470950007, + "source_return_step_error_deg": 2.357677920424051, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.359466740984071, + "source_return_best_wrist_position": -1.6127671003341675, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127671003341675 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3433, + 0.3483, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3433, + 0.3483, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0011, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3423, + 0.324, + 1.0266 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0643, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0009971047014253097, + 0.0011287260838895533, + 0.00012148539734511531 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.265010470950007, + "pour_controller_source_return_step_error_deg": 2.357677920424051, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.359466740984071, + "pour_controller_source_return_best_wrist_position": -1.6127671003341675, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127671003341675, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03568809896384987, + "valid_pour_held_xy_dist": 0.030602047021726333, + "valid_pour_held_gripper_dist": 0.00730725014957979, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.01347480695153, + "valid_pour_source_tilt_deg": 2.357693142655431, + "valid_pour_source_upright_tilt_deg": 2.2650187672525712, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34058576395520956, + 0.29394685261173603, + 1.01347480695153 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32969621820431705, + 0.31781049211144907, + 1.01347480695153 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3351409910797633, + 0.30587867236159255, + 1.01347480695153 + ], + "valid_pour_held_grasp_object_position": [ + 0.34058576395520956, + 0.31781049211144907, + 1.01347480695153 + ], + "valid_pour_held_grasp_finger_gap": 0.026230811974337465, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023954681171860767, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010072581009331862, + -0.9992187210344344, + 0.03821636620768177 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005583246801224434, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03333257021161108, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34058576395520956, + 0.29394685261173603, + 1.01347480695153 + ], + "held_grasp_finger_b": [ + 0.32969621820431705, + 0.31781049211144907, + 1.01347480695153 + ], + "held_grasp_midpoint": [ + 0.3351409910797633, + 0.30587867236159255, + 1.01347480695153 + ], + "held_grasp_object_position": [ + 0.34058576395520956, + 0.31781049211144907, + 1.01347480695153 + ], + "held_grasp_finger_gap": 0.026230811974337465, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023954681171860767, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010072581009331862, + -0.9992187210344344, + 0.03821636620768177 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005583246801224434, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03333257021161108, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1819705937097788, + -0.04231861565298483, + 0.7565864021840624 + ], + "target_position": [ + 0.17780833724537048, + -0.03495422148801987, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008459236389443129, + "xy_threshold": 0.08, + "gripper_dist": 0.21991049550733108, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864021840624, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532038561607483, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0896308665698513, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18954695002772443, + "release_required_pad_clearance": 0.05481543328492565, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.6866959884251225, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 260, + "max_placed_release_frames": 260 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3520346364920867, + 0.3443170847828458, + 1.1641673278425926 + ], + "current_z": 1.1641673278425926, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3030608794324715, + "gripper_z": 1.1530714034555518, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34723650161180164, + 0.3395509967109865, + 1.1530714034555518 + ], + "object_minus_gripper": [ + 0.0047981348802850765, + 0.004766088071859298, + 0.011095924387040768 + ], + "object_to_gripper_xy": 0.006762964870389892, + "object_to_gripper_z": 0.011095924387040768, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3520346364920867, + 0.3204534534202125, + 1.1641673278425926 + ], + "finger_b": [ + 0.3411526345913334, + 0.3443170847828458, + 1.1641673278425926 + ], + "finger_midpoint": [ + 0.3465936355417101, + 0.3323852691015291, + 1.1641673278425926 + ], + "object_minus_finger_midpoint": [ + 0.00544100095037664, + 0.011931815681316682, + 0.0 + ], + "finger_gap": 0.0262276736898196, + "fingertip_max_gap": 0.09055463424301732, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013113836844909812, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1641673278425926, + "object_top_z": 1.2141121416405456, + "finger_top_clearance": 0.049944813797953014, + "fingertip_min_top_clearance": 0.014983444139385904, + "object_projection_between_fingers": 0.8278535578564787, + "object_to_finger_line_xy": 0.009901148112417208, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047777317121508664, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.22657137978678188, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3325093395855404, + -0.3692123749559109, + 0.8515395893839649 + ], + "target_position": [ + 0.3270574390039065, + -0.3699685553752136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005504092003097064, + "xy_threshold": 0.08, + "gripper_dist": 0.18065641550191502, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395893839649, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07528984750102731, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08663740967988169, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14939799306156856, + "release_required_pad_clearance": 0.05331870483994085, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6551237748176348, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0084877610206604, + "max_z_decrease": 0.0084877610206604, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03499548134311516, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0084877610206604, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020983579334419487, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0084877610206604, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008488454789437128, + "max_button_displacement": 0.12, + "button_start": [ + 0.18275736272335055, + -0.42623001337051386, + 0.7768088579177856 + ], + "button_final": [ + 0.18275736272335055, + -0.42623001337051386, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18242655070473654, + -0.42548509984144245, + 0.8036791008520264 + ], + "closest_button": [ + 0.18265534937381747, + -0.4261994361877441, + 0.7686916589736938 + ], + "closest_ee_minus_button": [ + -0.00022879866908093183, + 0.0007143363463016361, + 0.03498744187833258 + ], + "button_min_z_position": [ + 0.18265122175216678, + -0.4262073934078216, + 0.7683210968971252 + ], + "min_active_finger_to_button": 0.14585453717652114, + "closest_active_finger": [ + 0.05607626587152481, + -0.4897916615009308, + 0.8104467391967773 + ], + "closest_active_finger_button": [ + 0.18276296555995947, + -0.4262363910675048, + 0.7760264873504639 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12668669968843466, + -0.06355527043342596, + 0.03442025184631348 + ], + "min_contact_pad_to_button": 0.020983579334419487, + "closest_contact_pad": [ + 0.18265122175216678, + -0.4265181701862633, + 0.7893023747294656 + ], + "closest_contact_pad_button": [ + 0.18265122175216678, + -0.4262073934078216, + 0.7683210968971252 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0003107767784417126, + 0.020981277832340384 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 60, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5bc00b80efcd31142f60e91843e04741ac926079df8cc06787c330768698b235", + "visual_seed": 5765541300197018874, + "episode_index": 60, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_61_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_61_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c062a969c7423cda90c144c0bf04842a01c9600c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_61_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 61, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19766614547318376, + -0.027826903783124753, + 0.9960566194849692 + ], + "current_z": 0.9960566194849692, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1394700524717588, + "gripper_z": 0.9988819749563131, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19283786821803833, + -0.03239447990129157, + 0.9988819749563131 + ], + "object_minus_gripper": [ + 0.0048282772551454245, + 0.00456757611816682, + -0.0028253554713439932 + ], + "object_to_gripper_xy": 0.006646428578402277, + "object_to_gripper_z": -0.0028253554713439932, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19766614547318376, + -0.05225636652602928, + 0.9960566194849692 + ], + "finger_b": [ + 0.18661249288566473, + -0.027826903783124753, + 0.9960566194849692 + ], + "finger_midpoint": [ + 0.19213931917942423, + -0.04004163515457702, + 0.9960566194849692 + ], + "object_minus_finger_midpoint": [ + 0.005526826293759529, + 0.012214731371452264, + 0.0 + ], + "finger_gap": 0.026813837573770125, + "fingertip_max_gap": 0.09184529495223631, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01340691878688507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9960566194849692, + "object_top_z": 1.0416153715478875, + "finger_top_clearance": 0.04555875206291837, + "fingertip_min_top_clearance": 0.01366762561887551, + "object_projection_between_fingers": 0.8300607595251681, + "object_to_finger_line_xy": 0.010070725360250561, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842264747611816, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2599486524464452, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34031043071407885, + 0.3519418891237682, + 0.7611064484101212 + ], + "gripper_position": [ + 0.3319351390475929, + 0.3156592092437303, + 1.016753107693904 + ], + "target_minus_gripper": [ + 0.008375291666485929, + 0.036282679880037916, + -0.25564665928378283 + ], + "held_position": [ + 0.3367687119980113, + 0.3201173354752167, + 1.0137650471158353 + ], + "held_minus_target": [ + -0.0035417187160675656, + -0.03182455364855152, + 0.25265859870571405 + ], + "held_minus_gripper": [ + 0.004833572950418363, + 0.004458126231486392, + -0.002988060578068774 + ], + "xy_dist": 0.03723678785523822, + "held_xy_dist": 0.03202102413092494, + "held_gripper_dist": 0.007222660381126323, + "max_held_gripper_dist": 0.007227423533291347, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.0137650471158353, + "required_height": 0.7911064484101212, + "gripper_z": 1.016753107693904, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19612539113197, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9971447780944924, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.246945932730427, + "max_source_tilt_deg": 89.89150701646429, + "source_upright_tilt_deg": 2.6483105727862197, + "max_source_upright_tilt_deg": 89.9603873833588, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.246945932730427, + "source_upright_return_tilt_deg": 2.6483105727862197, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3403, + 0.3519, + 0.7611 + ], + "controller_target_position": [ + 0.3403, + 0.3519, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0019, + -0.001, + 0.001 + ], + "controller_last_pour_pose_position": [ + 0.3385, + 0.3255, + 1.0275 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0653, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018547557197886326, + -0.001042466299869639, + 0.0009985682902767874 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.6483119747575214, + "source_return_step_error_deg": 2.246960487899526, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6522315407216084, + "source_return_best_wrist_position": -1.6125872135162354, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125872135162354 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3403, + 0.3519, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3403, + 0.3519, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0019, + -0.001, + 0.001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3385, + 0.3255, + 1.0275 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0653, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018547557197886326, + -0.001042466299869639, + 0.0009985682902767874 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.6483119747575214, + "pour_controller_source_return_step_error_deg": 2.246960487899526, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6522315407216084, + "pour_controller_source_return_best_wrist_position": -1.6125872135162354, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125872135162354, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03723678785523822, + "valid_pour_held_xy_dist": 0.03202102413092494, + "valid_pour_held_gripper_dist": 0.007222660381126323, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.0137650471158353, + "valid_pour_source_tilt_deg": 2.246945932730427, + "valid_pour_source_upright_tilt_deg": 2.6483105727862197, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3367687119980113, + 0.29631428058756143, + 1.0137650471158353 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3257168662036647, + 0.3201173354752167, + 1.0137650471158353 + ], + "valid_pour_held_grasp_midpoint": [ + 0.331242789100838, + 0.30821580803138904, + 1.0137650471158353 + ], + "valid_pour_held_grasp_object_position": [ + 0.3367687119980113, + 0.3201173354752167, + 1.0137650471158353 + ], + "valid_pour_held_grasp_finger_gap": 0.02624364146696769, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024049476270472197, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.024597123564354232, + -0.9989319760038871, + 0.039113793338535596 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005835379147571896, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03344733044719241, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3367687119980113, + 0.29631428058756143, + 1.0137650471158353 + ], + "held_grasp_finger_b": [ + 0.3257168662036647, + 0.3201173354752167, + 1.0137650471158353 + ], + "held_grasp_midpoint": [ + 0.331242789100838, + 0.30821580803138904, + 1.0137650471158353 + ], + "held_grasp_object_position": [ + 0.3367687119980113, + 0.3201173354752167, + 1.0137650471158353 + ], + "held_grasp_finger_gap": 0.02624364146696769, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024049476270472197, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.024597123564354232, + -0.9989319760038871, + 0.039113793338535596 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005835379147571896, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03344733044719241, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1837993083064047, + -0.031178494933429994, + 0.7565873977884778 + ], + "target_position": [ + 0.17669204564608307, + -0.028805478571343912, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.007492955970612026, + "xy_threshold": 0.08, + "gripper_dist": 0.21939516629604058, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565873977884778, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523861596836244, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08982217627535653, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1900234740233784, + "release_required_pad_clearance": 0.05491108813767827, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.884965713050325, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34933388607690086, + 0.34881308423607404, + 1.1659303459441368 + ], + "current_z": 1.1659303459441368, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.3048238975340156, + "gripper_z": 1.1547722971558472, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34464790305240384, + 0.34396119788295687, + 1.1547722971558472 + ], + "object_minus_gripper": [ + 0.00468598302449702, + 0.004851886353117174, + 0.011158048788289632 + ], + "object_to_gripper_xy": 0.006745312304811313, + "object_to_gripper_z": 0.011158048788289632, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34933388607690086, + 0.325017013721714, + 1.1659303459441368 + ], + "finger_b": [ + 0.33832715641596733, + 0.34881308423607404, + 1.1659303459441368 + ], + "finger_midpoint": [ + 0.3438305212464341, + 0.336915048978894, + 1.1659303459441368 + ], + "object_minus_finger_midpoint": [ + 0.0055033648304667615, + 0.011898035257180029, + 0.0 + ], + "finger_gap": 0.02621833461059779, + "fingertip_max_gap": 0.09002374903917579, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013109167305298895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1659303459441368, + "object_top_z": 1.2159418034014267, + "finger_top_clearance": 0.050011457457289854, + "fingertip_min_top_clearance": 0.015003437237186988, + "object_projection_between_fingers": 0.8237592241857324, + "object_to_finger_line_xy": 0.009989837990632792, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047511874519587896, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4967727285887224, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 387, + "max_stable_success_frames": 387, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3276940079681764, + -0.3637367780161965, + 0.8515396055790365 + ], + "target_position": [ + 0.3225243887337565, + -0.3641450254735231, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005185713934965723, + "xy_threshold": 0.08, + "gripper_dist": 0.18253530358687028, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396055790365, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07573534044194426, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08537220336549427, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1500789456844079, + "release_required_pad_clearance": 0.052686101682747136, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.42795770417982393, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00842958688735962, + "max_z_decrease": 0.00842958688735962, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503238771273212, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00842958688735962, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02099493987914708, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00842958688735962, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008429762609348263, + "max_button_displacement": 0.12, + "button_start": [ + 0.17822431027889246, + -0.4204064905643463, + 0.7768088579177856 + ], + "button_final": [ + 0.17822431027889246, + -0.4204064905643463, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1763352823850886, + -0.419831431716315, + 0.8048832449814354 + ], + "closest_button": [ + 0.17814132571220392, + -0.4204137623310089, + 0.7699022889137268 + ], + "closest_ee_minus_button": [ + -0.0018060433271153142, + 0.0005823306146939267, + 0.03498095606770857 + ], + "button_min_z_position": [ + 0.17817068099975575, + -0.42039719223976135, + 0.768379271030426 + ], + "min_active_finger_to_button": 0.14738297324146465, + "closest_active_finger": [ + 0.04896736890077591, + -0.48228025436401367, + 0.8108492493629456 + ], + "closest_active_finger_button": [ + 0.17822831869125358, + -0.42041364312171936, + 0.7764127850532532 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12926094979047767, + -0.06186661124229431, + 0.03443646430969238 + ], + "min_contact_pad_to_button": 0.02099493987914708, + "closest_contact_pad": [ + 0.17817068099975575, + -0.4210529231265482, + 0.7893639682532385 + ], + "closest_contact_pad_button": [ + 0.17817068099975575, + -0.42039719223976135, + 0.768379271030426 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0006557308867868317, + 0.020984697222812487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 61, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "f4b6e1b521effd48d33371a9203d194e7a996ba2be1e8bbdfed8f01f69107f46", + "visual_seed": 5083016825325774360, + "episode_index": 61, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_62_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_62_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b975a4541d669e2b28bac650658147ac224ecef6 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_62_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 62, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20145644223221676, + -0.02749917377686765, + 0.996974364111761 + ], + "current_z": 0.996974364111761, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14038785670319542, + "gripper_z": 0.9999197083846088, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19676821069391842, + -0.03203601864287116, + 0.9999197083846088 + ], + "object_minus_gripper": [ + 0.0046882315382983375, + 0.00453684486600351, + -0.002945344272847761 + ], + "object_to_gripper_xy": 0.0065239923585851635, + "object_to_gripper_z": -0.002945344272847761, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20145644223221676, + -0.0517522283277772, + 0.996974364111761 + ], + "finger_b": [ + 0.1903885603175196, + -0.02749917377686765, + 0.996974364111761 + ], + "finger_midpoint": [ + 0.19592250127486818, + -0.03962570105232242, + 0.996974364111761 + ], + "object_minus_finger_midpoint": [ + 0.0055339409573485765, + 0.012126527275454775, + 0.0 + ], + "finger_gap": 0.02665911973653809, + "fingertip_max_gap": 0.09217275982891132, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013329559868269045, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.996974364111761, + "object_top_z": 1.0426409505303424, + "finger_top_clearance": 0.045666586418581456, + "fingertip_min_top_clearance": 0.01369997592557442, + "object_projection_between_fingers": 0.8276396277569268, + "object_to_finger_line_xy": 0.010068972512707315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04858637991445566, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.444006643503222, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3345398070301495, + 0.35271275599464835, + 0.7611064484101212 + ], + "gripper_position": [ + 0.32920114779230564, + 0.3188815784490504, + 1.0178285132269298 + ], + "target_minus_gripper": [ + 0.005338659237843879, + 0.033831177545597946, + -0.2567220648168086 + ], + "held_position": [ + 0.33386873810222806, + 0.32332510691072497, + 1.014712402560137 + ], + "held_minus_target": [ + -0.0006710689279214588, + -0.029387649083923384, + 0.25360595415001586 + ], + "held_minus_gripper": [ + 0.00466759030992242, + 0.004443528461674562, + -0.0031161106667927374 + ], + "xy_dist": 0.03424981542402216, + "held_xy_dist": 0.029395310037246495, + "held_gripper_dist": 0.007158316155262566, + "max_held_gripper_dist": 0.007166129499163037, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101212, + "held_z": 1.014712402560137, + "required_height": 0.7911064484101212, + "gripper_z": 1.0178285132269298, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19956780647365, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8018223881162894, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1631976908198975, + "max_source_tilt_deg": 89.79631162079808, + "source_upright_tilt_deg": 2.8935365000739734, + "max_source_upright_tilt_deg": 89.69100908567363, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1631976908198975, + "source_upright_return_tilt_deg": 2.8935365000739734, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.3328003759180248e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3345, + 0.3527, + 0.7611 + ], + "controller_target_position": [ + 0.3345, + 0.3527, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.0019, + 0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3362, + 0.3293, + 1.0276 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0682, + 0.0658, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016122046651357177, + 0.0019246737666795471, + 0.0010988884987881485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.893529797162481, + "source_return_step_error_deg": 2.163196192490954, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8990276487912587, + "source_return_best_wrist_position": -1.6126089096069336, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126089096069336 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3345, + 0.3527, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3345, + 0.3527, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.0019, + 0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3362, + 0.3293, + 1.0276 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0682, + 0.0658, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016122046651357177, + 0.0019246737666795471, + 0.0010988884987881485 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.893529797162481, + "pour_controller_source_return_step_error_deg": 2.163196192490954, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8990276487912587, + "pour_controller_source_return_best_wrist_position": -1.6126089096069336, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126089096069336, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03424981542402216, + "valid_pour_held_xy_dist": 0.029395310037246495, + "valid_pour_held_gripper_dist": 0.007158316155262566, + "valid_pour_required_height": 0.7911064484101212, + "valid_pour_held_z": 1.014712402560137, + "valid_pour_source_tilt_deg": 2.1631976908198975, + "valid_pour_source_upright_tilt_deg": 2.8935365000739734, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33386873810222806, + 0.2997769538935762, + 1.014712402560137 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32266664414316637, + 0.32332510691072497, + 1.014712402560137 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3282676911226972, + 0.3115510304021506, + 1.014712402560137 + ], + "valid_pour_held_grasp_object_position": [ + 0.33386873810222806, + 0.32332510691072497, + 1.014712402560137 + ], + "valid_pour_held_grasp_finger_gap": 0.026076856014226442, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02388661852880085, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032894546125387655, + -0.998725068383779, + 0.03829081635354592 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006002009070424169, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033625403497847636, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33386873810222806, + 0.2997769538935762, + 1.014712402560137 + ], + "held_grasp_finger_b": [ + 0.32266664414316637, + 0.32332510691072497, + 1.014712402560137 + ], + "held_grasp_midpoint": [ + 0.3282676911226972, + 0.3115510304021506, + 1.014712402560137 + ], + "held_grasp_object_position": [ + 0.33386873810222806, + 0.32332510691072497, + 1.014712402560137 + ], + "held_grasp_finger_gap": 0.026076856014226442, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02388661852880085, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032894546125387655, + -0.998725068383779, + 0.03829081635354592 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006002009070424169, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033625403497847636, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1860980129162023, + -0.03126315441763221, + 0.7565878164725796 + ], + "target_position": [ + 0.18135634239036125, + -0.02884299496111644, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005323590064100762, + "xy_threshold": 0.08, + "gripper_dist": 0.2182582475779936, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878164725796, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758489170314306, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08509331586944767, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18787560933857486, + "release_required_pad_clearance": 0.05254665793472384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.15824399463907557, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34353411613592094, + 0.3503671310818247, + 1.1630584970450022 + ], + "current_z": 1.1630584970450022, + "required_z": 0.8611064484101212, + "initial_z": 0.7611064484101212, + "lift_margin": 0.301952048634881, + "gripper_z": 1.1520090942694725, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3385597158858573, + 0.34556095102911405, + 1.1520090942694725 + ], + "object_minus_gripper": [ + 0.004974400250063626, + 0.004806180052710662, + 0.011049402775529682 + ], + "object_to_gripper_xy": 0.006916937512144152, + "object_to_gripper_z": 0.011049402775529682, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34353411613592094, + 0.3264032658723942, + 1.1630584970450022 + ], + "finger_b": [ + 0.3325699598996969, + 0.3503671310818247, + 1.1630584970450022 + ], + "finger_midpoint": [ + 0.3380520380178089, + 0.33838519847710946, + 1.1630584970450022 + ], + "object_minus_finger_midpoint": [ + 0.0054820781181120215, + 0.01198193260471525, + 0.0 + ], + "finger_gap": 0.026352980054409107, + "fingertip_max_gap": 0.0904697796401204, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013176490027204554, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630584970450022, + "object_top_z": 1.2129302101106865, + "finger_top_clearance": 0.049871713065684276, + "fingertip_min_top_clearance": 0.014961513919705282, + "object_projection_between_fingers": 0.8269024327193564, + "object_to_finger_line_xy": 0.009970165106092072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477348898200602, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.25066624943753546, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33079419154781914, + -0.36855440775886117, + 0.8515396287423049 + ], + "target_position": [ + 0.3236698701497244, + -0.37062686387059335, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007419638112361428, + "xy_threshold": 0.08, + "gripper_dist": 0.18274261565617794, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396287423049, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539989707109468, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08492371967336886, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15137201510394974, + "release_required_pad_clearance": 0.05246185983668443, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.0, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008440375328063965, + "max_z_decrease": 0.008440375328063965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498705389904883, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008440375328063965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02104313485047433, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008440375328063965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008440653080155703, + "max_button_displacement": 0.12, + "button_start": [ + 0.17936979234218592, + -0.4268883168697357, + 0.7768088579177856 + ], + "button_final": [ + 0.17936979234218592, + -0.4268883168697357, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17805291244283591, + -0.42664525295530764, + 0.8034184395759115 + ], + "closest_button": [ + 0.17932030558586118, + -0.4268816411495209, + 0.7684551477432251 + ], + "closest_ee_minus_button": [ + -0.0012673931430252638, + 0.00023638819421323287, + 0.03496329183268643 + ], + "button_min_z_position": [ + 0.17930237948894495, + -0.4268763065338135, + 0.7683684825897217 + ], + "min_active_finger_to_button": 0.14697241665927063, + "closest_active_finger": [ + 0.050461411476135254, + -0.48841601610183716, + 0.8106086850166321 + ], + "closest_active_finger_button": [ + 0.17937776446342463, + -0.42689523100852966, + 0.7760159373283386 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12891635298728937, + -0.061520785093307495, + 0.03459274768829346 + ], + "min_contact_pad_to_button": 0.02104313485047433, + "closest_contact_pad": [ + 0.17932030558586118, + -0.42794009342991285, + 0.7894716460982171 + ], + "closest_contact_pad_button": [ + 0.17932030558586118, + -0.4268816411495209, + 0.7684551477432251 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001058452280391975, + 0.021016498354991975 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 62, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "246f0ba1de27fac05ea73f2964043d2b03c052f1ea4ff2f29e237cccc10eabc6", + "visual_seed": 6286387016305211226, + "episode_index": 62, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_63_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_63_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8ba01b119438255eb7a2598583a6be323f305a97 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_63_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 63, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20300894412378775, + -0.030978303772108563, + 0.9959637949036328 + ], + "current_z": 0.9959637949036328, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1393772278904225, + "gripper_z": 0.9995617963630643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1983057599977489, + -0.035687700763328514, + 0.9995617963630643 + ], + "object_minus_gripper": [ + 0.004703184126038845, + 0.004709396991219951, + -0.0035980014594314547 + ], + "object_to_gripper_xy": 0.006655701386355559, + "object_to_gripper_z": -0.0035980014594314547, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20300894412378775, + -0.05501271092252758, + 0.9959637949036328 + ], + "finger_b": [ + 0.19121365233756749, + -0.030978303772108563, + 0.9959637949036328 + ], + "finger_midpoint": [ + 0.19711129823067763, + -0.04299550734731807, + 0.9959637949036328 + ], + "object_minus_finger_midpoint": [ + 0.0058976458931101206, + 0.012017203575209509, + 0.0 + ], + "finger_gap": 0.026772777879670764, + "fingertip_max_gap": 0.0915900471760894, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013386388939835375, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959637949036328, + "object_top_z": 1.0412377625289606, + "finger_top_clearance": 0.04527396762532776, + "fingertip_min_top_clearance": 0.013582190287598328, + "object_projection_between_fingers": 0.8058977777164135, + "object_to_finger_line_xy": 0.010588846869837689, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0482950235880447, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4856340498259484, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34352639932293505, + 0.34939948280319644, + 0.7611063888054764 + ], + "gripper_position": [ + 0.336746880044668, + 0.31298148860752784, + 1.0164865660897346 + ], + "target_minus_gripper": [ + 0.006779519278267032, + 0.0364179941956686, + -0.2553801772842582 + ], + "held_position": [ + 0.34160049829859385, + 0.3174409294748011, + 1.0127720079685287 + ], + "held_minus_target": [ + -0.0019259010243412034, + -0.03195855332839531, + 0.2516656191630523 + ], + "held_minus_gripper": [ + 0.004853618253925829, + 0.00445944086727329, + -0.003714558121205913 + ], + "xy_dist": 0.037043652396600235, + "held_xy_dist": 0.03201653050534123, + "held_gripper_dist": 0.007565855208723332, + "max_held_gripper_dist": 0.007570357350872021, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0127720079685287, + "required_height": 0.7911063888054765, + "gripper_z": 1.0164865660897346, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19417195702934, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6404488010484554, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.182818925851868, + "max_source_tilt_deg": 89.74138518327663, + "source_upright_tilt_deg": 2.222804604777457, + "max_source_upright_tilt_deg": 89.96795684920461, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.182818925851868, + "source_upright_return_tilt_deg": 2.222804604777457, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.0745380149674383e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3435, + 0.3494, + 0.7611 + ], + "controller_target_position": [ + 0.3435, + 0.3494, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0019, + -0.0018, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3454, + 0.3221, + 1.0261 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0662, + 0.064, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018615207420246424, + -0.001820529378153588, + -0.00045729240897591605 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.222807094462491, + "source_return_step_error_deg": 2.1828137958562657, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.224857408614761, + "source_return_best_wrist_position": -1.6123924255371094, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6123924255371094 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3435, + 0.3494, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3435, + 0.3494, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0019, + -0.0018, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3454, + 0.3221, + 1.0261 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0662, + 0.064, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0018615207420246424, + -0.001820529378153588, + -0.00045729240897591605 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.222807094462491, + "pour_controller_source_return_step_error_deg": 2.1828137958562657, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.224857408614761, + "pour_controller_source_return_best_wrist_position": -1.6123924255371094, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6123924255371094, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037043652396600235, + "valid_pour_held_xy_dist": 0.03201653050534123, + "valid_pour_held_gripper_dist": 0.007565855208723332, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0127720079685287, + "valid_pour_source_tilt_deg": 2.182818925851868, + "valid_pour_source_upright_tilt_deg": 2.222804604777457, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34160049829859385, + 0.2936833777045865, + 1.0127720079685287 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3304595336735542, + 0.3174409294748011, + 1.0127720079685287 + ], + "valid_pour_held_grasp_midpoint": [ + 0.336030015986074, + 0.30556215358969385, + 1.0127720079685287 + ], + "valid_pour_held_grasp_object_position": [ + 0.34160049829859385, + 0.3174409294748011, + 1.0127720079685287 + ], + "valid_pour_held_grasp_finger_gap": 0.026240090679927386, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023776892868735085, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0033405568944019264, + -0.9992475686114092, + 0.03864113486716525 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005628849903613917, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0333489955576317, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34160049829859385, + 0.2936833777045865, + 1.0127720079685287 + ], + "held_grasp_finger_b": [ + 0.3304595336735542, + 0.3174409294748011, + 1.0127720079685287 + ], + "held_grasp_midpoint": [ + 0.336030015986074, + 0.30556215358969385, + 1.0127720079685287 + ], + "held_grasp_object_position": [ + 0.34160049829859385, + 0.3174409294748011, + 1.0127720079685287 + ], + "held_grasp_finger_gap": 0.026240090679927386, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023776892868735085, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0033405568944019264, + -0.9992475686114092, + 0.03864113486716525 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005628849903613917, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0333489955576317, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19064404968191767, + -0.035036510398833265, + 0.7565862657003273 + ], + "target_position": [ + 0.17839378407046305, + -0.03449373317604249, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.012262284235197294, + "xy_threshold": 0.08, + "gripper_dist": 0.2241095835415914, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862657003273, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758204201748072, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08720956165930631, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19383038014232237, + "release_required_pad_clearance": 0.053604780829653156, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.21953926819528, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3523665455379743, + 0.34487198317876533, + 1.163034952412863 + ], + "current_z": 1.163034952412863, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3019285636073865, + "gripper_z": 1.1519277476947944, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34754890412581846, + 0.3402114816971952, + 1.1519277476947944 + ], + "object_minus_gripper": [ + 0.004817641412155849, + 0.004660501481570156, + 0.011107204718068475 + ], + "object_to_gripper_xy": 0.006702980145863228, + "object_to_gripper_z": 0.011107204718068475, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3523665455379743, + 0.3209113433411903, + 1.163034952412863 + ], + "finger_b": [ + 0.34175045159686823, + 0.34487198317876533, + 1.163034952412863 + ], + "finger_midpoint": [ + 0.34705849856742127, + 0.3328916632599778, + 1.163034952412863 + ], + "object_minus_finger_midpoint": [ + 0.0053080469705530375, + 0.011980319918787508, + 0.0 + ], + "finger_gap": 0.026207130937826367, + "fingertip_max_gap": 0.09043228560420394, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013103565468913184, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163034952412863, + "object_top_z": 1.212925277470498, + "finger_top_clearance": 0.04989032505763502, + "fingertip_min_top_clearance": 0.014967097517290473, + "object_projection_between_fingers": 0.8359068134509811, + "object_to_finger_line_xy": 0.009706075953455838, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04771614280210197, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3746055864859414, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3277584545642063, + -0.3674187021044235, + 0.8515396710760872 + ], + "target_position": [ + 0.3220848850258203, + -0.36850803934946136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005777200614512942, + "xy_threshold": 0.08, + "gripper_dist": 0.18329804183784637, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396710760872, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558020574100494, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08498272514032078, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15120268371661014, + "release_required_pad_clearance": 0.05249136257016039, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.055952787021846084, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008597314357757568, + "max_z_decrease": 0.008597314357757568, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034983368331111604, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008597314357757568, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.020956547354962055, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008597314357757568, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008597983521481032, + "max_button_displacement": 0.12, + "button_start": [ + 0.17778481543064112, + -0.42476949095726013, + 0.7768088579177856 + ], + "button_final": [ + 0.17778481543064112, + -0.42476949095726013, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17625870676546096, + -0.42507428173082945, + 0.8035588555110158 + ], + "closest_button": [ + 0.1776930391788482, + -0.4247748851776123, + 0.7686061859130859 + ], + "closest_ee_minus_button": [ + -0.0014343324133872515, + -0.0002993965532171461, + 0.034952669597929864 + ], + "button_min_z_position": [ + 0.17767865955829615, + -0.4247540831565857, + 0.7682115435600281 + ], + "min_active_finger_to_button": 0.14733091031651846, + "closest_active_finger": [ + 0.04952879250049591, + -0.4886230230331421, + 0.8105623722076416 + ], + "closest_active_finger_button": [ + 0.17778818309307093, + -0.4247763156890869, + 0.7762181758880615 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12825939059257502, + -0.06384670734405518, + 0.03434419631958008 + ], + "min_contact_pad_to_button": 0.020956547354962055, + "closest_contact_pad": [ + 0.17767865955829615, + -0.426069822374446, + 0.7891267463405739 + ], + "closest_contact_pad_button": [ + 0.17767865955829615, + -0.4247540831565857, + 0.7682115435600281 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013157392178603233, + 0.020915202780545816 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 63, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a0ac73d73520cdf36ba437e6f0f6f19aa60e6ff2b3359eabee97c3e3385144c9", + "visual_seed": 2170055463782109808, + "episode_index": 63, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_64_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_64_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5ecb0875f519cc2afc2f8a680178de93042ca5 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_64_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 64, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2056635429322607, + -0.035118885357839344, + 0.9945598417344289 + ], + "current_z": 0.9945598417344289, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.13797339393050811, + "gripper_z": 0.9982233152050392, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20092162327039848, + -0.03975697780710806, + 0.9982233152050392 + ], + "object_minus_gripper": [ + 0.004741919661862215, + 0.004638092449268716, + -0.0036634734706102456 + ], + "object_to_gripper_xy": 0.006633076484371256, + "object_to_gripper_z": -0.0036634734706102456, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2056635429322607, + -0.059305216728699595, + 0.9945598417344289 + ], + "finger_b": [ + 0.19424101731290755, + -0.035118885357839344, + 0.9945598417344289 + ], + "finger_midpoint": [ + 0.19995228012258412, + -0.04721205104326947, + 0.9945598417344289 + ], + "object_minus_finger_midpoint": [ + 0.0057112628096765705, + 0.012093165685430125, + 0.0 + ], + "finger_gap": 0.026747947897097408, + "fingertip_max_gap": 0.09196610997031282, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013373973948548704, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9945598417344289, + "object_top_z": 1.0399611488204208, + "finger_top_clearance": 0.04540130708599188, + "fingertip_min_top_clearance": 0.013620392125797564, + "object_projection_between_fingers": 0.8176342216917962, + "object_to_finger_line_xy": 0.010328605049802557, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848305498515641, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.743624858781183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3367613019432505, + 0.35445893366798836, + 0.7611066868287002 + ], + "gripper_position": [ + 0.3300683669297807, + 0.31876023373614526, + 1.0159570887855764 + ], + "target_minus_gripper": [ + 0.006692935013469792, + 0.0356986999318431, + -0.25485040195687625 + ], + "held_position": [ + 0.3349149056403351, + 0.32316286091893065, + 1.012141450292181 + ], + "held_minus_target": [ + -0.0018463963029153874, + -0.03129607274905771, + 0.25103476346348086 + ], + "held_minus_gripper": [ + 0.0048465387105544044, + 0.00440262718278539, + -0.00381563849339539 + ], + "xy_dist": 0.03632069046588053, + "held_xy_dist": 0.03135049200286548, + "held_gripper_dist": 0.007578334955370066, + "max_held_gripper_dist": 0.007583434420576282, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066868287002, + "held_z": 1.012141450292181, + "required_height": 0.7911066868287002, + "gripper_z": 1.0159570887855764, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20646629753537, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6035041107629782, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.335664678451001, + "max_source_tilt_deg": 89.5863772618346, + "source_upright_tilt_deg": 2.406612867040265, + "max_source_upright_tilt_deg": 89.84682334699025, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.335664678451001, + "source_upright_return_tilt_deg": 2.406612867040265, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3368, + 0.3545, + 0.7611 + ], + "controller_target_position": [ + 0.3368, + 0.3545, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + 0.001, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.3373, + 0.3299, + 1.0246 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0647, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004936431831073151, + 0.0009733390523249236, + -0.001971349492523936 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4065912317716682, + "source_return_step_error_deg": 2.335623405677726, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.404048846319484, + "source_return_best_wrist_position": -1.6131794452667236, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6131794452667236 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3368, + 0.3545, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3368, + 0.3545, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + 0.001, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3373, + 0.3299, + 1.0246 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0647, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0004936431831073151, + 0.0009733390523249236, + -0.001971349492523936 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4065912317716682, + "pour_controller_source_return_step_error_deg": 2.335623405677726, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.404048846319484, + "pour_controller_source_return_best_wrist_position": -1.6131794452667236, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6131794452667236, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03632069046588053, + "valid_pour_held_xy_dist": 0.03135049200286548, + "valid_pour_held_gripper_dist": 0.007578334955370066, + "valid_pour_required_height": 0.7911066868287002, + "valid_pour_held_z": 1.012141450292181, + "valid_pour_source_tilt_deg": 2.335664678451001, + "valid_pour_source_upright_tilt_deg": 2.406612867040265, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3349149056403351, + 0.29935596848951807, + 1.012141450292181 + ], + "valid_pour_held_grasp_finger_b": [ + 0.323950402156093, + 0.32316286091893065, + 1.012141450292181 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3294326538982141, + 0.31125941470422436, + 1.012141450292181 + ], + "valid_pour_held_grasp_object_position": [ + 0.3349149056403351, + 0.32316286091893065, + 1.012141450292181 + ], + "valid_pour_held_grasp_finger_gap": 0.026210464776527324, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023941340003438623, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.014177133824476367, + -0.9991180008373097, + 0.03952504622869779 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056698835631887575, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0333850001973065, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3349149056403351, + 0.29935596848951807, + 1.012141450292181 + ], + "held_grasp_finger_b": [ + 0.323950402156093, + 0.32316286091893065, + 1.012141450292181 + ], + "held_grasp_midpoint": [ + 0.3294326538982141, + 0.31125941470422436, + 1.012141450292181 + ], + "held_grasp_object_position": [ + 0.3349149056403351, + 0.32316286091893065, + 1.012141450292181 + ], + "held_grasp_finger_gap": 0.026210464776527324, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023941340003438623, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.014177133824476367, + -0.9991180008373097, + 0.03952504622869779 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056698835631887575, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0333850001973065, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19241188486644534, + -0.041693026428419454, + 0.7565863003864426 + ], + "target_position": [ + 0.18370210825670835, + -0.03760000215548309, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00962356775267716, + "xy_threshold": 0.08, + "gripper_dist": 0.2192858037334898, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863003864426, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07530377448238218, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08609850716506938, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18931189434144233, + "release_required_pad_clearance": 0.05304925358253469, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1288120454438795, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 251, + "max_placed_release_frames": 251 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34566988748716043, + 0.34975860002950965, + 1.162152492531349 + ], + "current_z": 1.162152492531349, + "required_z": 0.8611066272240555, + "initial_z": 0.7611066272240555, + "lift_margin": 0.3010458653072934, + "gripper_z": 1.151014671686322, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3407443424629085, + 0.34509373487055184, + 1.151014671686322 + ], + "object_minus_gripper": [ + 0.004925545024251909, + 0.004664865158957809, + 0.011137820845026791 + ], + "object_to_gripper_xy": 0.006783948756969735, + "object_to_gripper_z": 0.011137820845026791, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34566988748716043, + 0.3256849786150066, + 1.162152492531349 + ], + "finger_b": [ + 0.3350919265592115, + 0.34975860002950965, + 1.162152492531349 + ], + "finger_midpoint": [ + 0.34038090702318596, + 0.33772178932225816, + 1.162152492531349 + ], + "object_minus_finger_midpoint": [ + 0.005288980463974469, + 0.012036810707251488, + 0.0 + ], + "finger_gap": 0.02629510420975801, + "fingertip_max_gap": 0.090458856402685, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013147552104878979, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162152492531349, + "object_top_z": 1.2120992922924607, + "finger_top_clearance": 0.049946799761111826, + "fingertip_min_top_clearance": 0.014984039928333514, + "object_projection_between_fingers": 0.8381718294714045, + "object_to_finger_line_xy": 0.009684305667149546, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477294282013425, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4181871130140741, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 373, + "max_stable_success_frames": 373, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33641181866384073, + -0.36121611897092687, + 0.8515395688230222 + ], + "target_position": [ + 0.32931089122222895, + -0.3624182480201362, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007201963953116416, + "xy_threshold": 0.08, + "gripper_dist": 0.18541360850151403, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395688230222, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07521695470356358, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581388686226475, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1542459323040079, + "release_required_pad_clearance": 0.05290694343113238, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8531691777853443, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008597016334533691, + "max_z_decrease": 0.008597016334533691, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035010928642383886, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008597016334533691, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021236096938203317, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008597016334533691, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008597204160487993, + "max_button_displacement": 0.12, + "button_start": [ + 0.18501082062721252, + -0.4186797142028809, + 0.7768088579177856 + ], + "button_final": [ + 0.18501082062721252, + -0.4186797142028809, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18360628884531377, + -0.41909676880354013, + 0.8057017982520135 + ], + "closest_button": [ + 0.18495601415634155, + -0.4186676442623139, + 0.7707195281982422 + ], + "closest_ee_minus_button": [ + -0.001349725311027783, + -0.00042912454122623345, + 0.0349822700537713 + ], + "button_min_z_position": [ + 0.18496872484683988, + -0.41864153742790233, + 0.768211841583252 + ], + "min_active_finger_to_button": 0.14746820918159592, + "closest_active_finger": [ + 0.042752012610435486, + -0.40166744589805603, + 0.8081842660903931 + ], + "closest_active_finger_button": [ + 0.18501774966716766, + -0.4186851084232331, + 0.7732882499694824 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14226573705673218, + 0.017017662525177057, + 0.034896016120910645 + ], + "min_contact_pad_to_button": 0.021236096938203317, + "closest_contact_pad": [ + 0.18496872484683988, + -0.4203052792998502, + 0.7893826652836254 + ], + "closest_contact_pad_button": [ + 0.18496872484683988, + -0.41864153742790233, + 0.768211841583252 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016637418719478436, + 0.021170823700373487 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 64, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "428145cab64656ec3ade9969df99d36bb12a0aba97c96eeb2ad9b9a66ff31343", + "visual_seed": 9117543936092207286, + "episode_index": 64, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_65_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_65_success.json new file mode 100644 index 0000000000000000000000000000000000000000..fb507ac549b68a56a73d6a1c7319d857cfebb258 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_65_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 65, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20134211865386756, + -0.03342083055532041, + 0.9955646517739016 + ], + "current_z": 0.9955646517739016, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1389781443653363, + "gripper_z": 0.9986571378230871, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19671958058789812, + -0.03800896764722632, + 0.9986571378230871 + ], + "object_minus_gripper": [ + 0.004622538065969434, + 0.004588137091905906, + -0.003092486049185439 + ], + "object_to_gripper_xy": 0.006512976289336482, + "object_to_gripper_z": -0.003092486049185439, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20134211865386756, + -0.057541542428610246, + 0.9955646517739016 + ], + "finger_b": [ + 0.18991573515991939, + -0.03342083055532041, + 0.9955646517739016 + ], + "finger_midpoint": [ + 0.19562892690689349, + -0.04548118649196533, + 0.9955646517739016 + ], + "object_minus_finger_midpoint": [ + 0.005713191746974072, + 0.012060355936644916, + 0.0 + ], + "finger_gap": 0.02669027877383517, + "fingertip_max_gap": 0.09129456809761013, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01334513938691758, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9955646517739016, + "object_top_z": 1.0408591158112972, + "finger_top_clearance": 0.045294464037395565, + "fingertip_min_top_clearance": 0.013588339211218653, + "object_projection_between_fingers": 0.8167215633027273, + "object_to_finger_line_xy": 0.010326325414083926, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04814728404880507, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3121504887840543, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34350869674343687, + 0.3567043002413221, + 0.7611063888054763 + ], + "gripper_position": [ + 0.3355524236994134, + 0.32149934125702007, + 1.016392480228568 + ], + "target_minus_gripper": [ + 0.007956273044023465, + 0.03520495898430204, + -0.25528609142309167 + ], + "held_position": [ + 0.3402243371459037, + 0.3259552825204697, + 1.0131816852128275 + ], + "held_minus_target": [ + -0.0032843595975331485, + -0.030749017720852423, + 0.25207529640735116 + ], + "held_minus_gripper": [ + 0.004671913446490317, + 0.004455941263449614, + -0.0032107950157405085 + ], + "xy_dist": 0.03609281670689395, + "held_xy_dist": 0.030923924536888983, + "held_gripper_dist": 0.00721050569848704, + "max_held_gripper_dist": 0.0072158612273328145, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0131816852128275, + "required_height": 0.7911063888054763, + "gripper_z": 1.016392480228568, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20352931619226, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0351134860965263, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.17211387145366, + "max_source_tilt_deg": 89.61235228326, + "source_upright_tilt_deg": 2.447930809055852, + "max_source_upright_tilt_deg": 89.9621822712148, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.17211387145366, + "source_upright_return_tilt_deg": 2.447930809055852, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.737759081973225e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3435, + 0.3567, + 0.7611 + ], + "controller_target_position": [ + 0.3435, + 0.3567, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + 0.0007, + -0.0002 + ], + "controller_last_pour_pose_position": [ + 0.342, + 0.3321, + 1.0263 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0674, + 0.0649, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014860593566267566, + 0.0007463325467253782, + -0.0001555761800883682 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.447920907822666, + "source_return_step_error_deg": 2.1721099733126334, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.449735069654977, + "source_return_best_wrist_position": -1.6128709316253662, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128709316253662 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3435, + 0.3567, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3435, + 0.3567, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + 0.0007, + -0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.342, + 0.3321, + 1.0263 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0674, + 0.0649, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014860593566267566, + 0.0007463325467253782, + -0.0001555761800883682 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.447920907822666, + "pour_controller_source_return_step_error_deg": 2.1721099733126334, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.449735069654977, + "pour_controller_source_return_best_wrist_position": -1.6128709316253662, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128709316253662, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03609281670689395, + "valid_pour_held_xy_dist": 0.030923924536888983, + "valid_pour_held_gripper_dist": 0.00721050569848704, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0131816852128275, + "valid_pour_source_tilt_deg": 2.17211387145366, + "valid_pour_source_upright_tilt_deg": 2.447930809055852, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3402243371459037, + 0.30242626428749525, + 1.0131816852128275 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3289832413333601, + 0.3259552825204697, + 1.0131816852128275 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3346037892396319, + 0.3141907734039825, + 1.0131816852128275 + ], + "valid_pour_held_grasp_object_position": [ + 0.3402243371459037, + 0.3259552825204697, + 1.0131816852128275 + ], + "valid_pour_held_grasp_finger_gap": 0.02607636734812633, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023741324289925213, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02079665956604228, + -0.9990874593406596, + 0.037306132728013426 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0058802332684647724, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033563340063610905, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3402243371459037, + 0.30242626428749525, + 1.0131816852128275 + ], + "held_grasp_finger_b": [ + 0.3289832413333601, + 0.3259552825204697, + 1.0131816852128275 + ], + "held_grasp_midpoint": [ + 0.3346037892396319, + 0.3141907734039825, + 1.0131816852128275 + ], + "held_grasp_object_position": [ + 0.3402243371459037, + 0.3259552825204697, + 1.0131816852128275 + ], + "held_grasp_finger_gap": 0.02607636734812633, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023741324289925213, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02079665956604228, + -0.9990874593406596, + 0.037306132728013426 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0058802332684647724, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033563340063610905, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18216191724094086, + -0.03592468439054275, + 0.7565863634532934 + ], + "target_position": [ + 0.17705641803320826, + -0.03547740311103793, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005125054409774945, + "xy_threshold": 0.08, + "gripper_dist": 0.2201449233487026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863634532934, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758410910377084, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09358475692501493, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19039970883149618, + "release_required_pad_clearance": 0.05679237846250747, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 9.03782771278816, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3522915927622164, + 0.35447252107540844, + 1.164975451671817 + ], + "current_z": 1.164975451671817, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30386906286634063, + "gripper_z": 1.1535501224307807, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3475567910115982, + 0.3498370085865391, + 1.1535501224307807 + ], + "object_minus_gripper": [ + 0.004734801750618189, + 0.004635512488869342, + 0.01142532924103623 + ], + "object_to_gripper_xy": 0.006626184698008404, + "object_to_gripper_z": 0.01142532924103623, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3522915927622164, + 0.3303843912679308, + 1.164975451671817 + ], + "finger_b": [ + 0.34195388467850574, + 0.35447252107540844, + 1.164975451671817 + ], + "finger_midpoint": [ + 0.34712273872036103, + 0.3424284561716696, + 1.164975451671817 + ], + "object_minus_finger_midpoint": [ + 0.005168854041855353, + 0.012044064903738827, + 0.0 + ], + "finger_gap": 0.026212710772560512, + "fingertip_max_gap": 0.0903312757863555, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013106355386280267, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164975451671817, + "object_top_z": 1.2150264630425298, + "finger_top_clearance": 0.05005101137071288, + "fingertip_min_top_clearance": 0.015015303411213864, + "object_projection_between_fingers": 0.8444662448342434, + "object_to_finger_line_xy": 0.009499820769887824, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04766563789317775, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2990044253925318, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33748091125526153, + -0.3626687741824568, + 0.8515395573895301 + ], + "target_position": [ + 0.3297246939629259, + -0.36442932108448073, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007953516962963742, + "xy_threshold": 0.08, + "gripper_dist": 0.18561663935758904, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395573895301, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07516030401916866, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0851355668735214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15479101138308662, + "release_required_pad_clearance": 0.052567783436760704, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.2017411083191704, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 154, + "max_placed_release_frames": 154 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008657872676849365, + "max_z_decrease": 0.008657872676849365, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035038072601509374, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008657872676849365, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021010160590911653, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008657872676849365, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008658190175425863, + "max_button_displacement": 0.12, + "button_start": [ + 0.18542462587356567, + -0.42069077491760254, + 0.7768088579177856 + ], + "button_final": [ + 0.18542462587356567, + -0.42069077491760254, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1837272044795184, + -0.4190301964070234, + 0.803113272180314 + ], + "closest_button": [ + 0.18535965681076044, + -0.4206550419330597, + 0.7681509852409363 + ], + "closest_ee_minus_button": [ + -0.0016324523312420403, + 0.0016248455260363115, + 0.03496228693937775 + ], + "button_min_z_position": [ + 0.18535965681076044, + -0.4206550419330597, + 0.7681509852409363 + ], + "min_active_finger_to_button": 0.1467330364361487, + "closest_active_finger": [ + 0.056897930800914764, + -0.48243021965026855, + 0.8107431530952454 + ], + "closest_active_finger_button": [ + 0.18543209135532374, + -0.42069724202156067, + 0.7761224508285522 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12853416055440897, + -0.061732977628707886, + 0.034620702266693115 + ], + "min_contact_pad_to_button": 0.021010160590911653, + "closest_contact_pad": [ + 0.18535965681076044, + -0.4206550419330597, + 0.7891611458318479 + ], + "closest_contact_pad_button": [ + 0.18535965681076044, + -0.4206550419330597, + 0.7681509852409363 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021010160590911653 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 65, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "28cc8d3380a28d5cdda9619e7f2063a3c4820c80c5114c6cb9b43ec0053587b4", + "visual_seed": 6146473612956239777, + "episode_index": 65, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_66_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_66_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b186360f077dbffebf9c26fb3e8250a5259e0263 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_66_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 66, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20570166733477846, + -0.03118494221835438, + 0.9950971978252222 + ], + "current_z": 0.9950971978252222, + "required_z": 0.8565865074085657, + "initial_z": 0.7565865074085657, + "lift_margin": 0.13851069041665653, + "gripper_z": 0.9984484433276615, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20103735405583392, + -0.03584262328385818, + 0.9984484433276615 + ], + "object_minus_gripper": [ + 0.004664313278944537, + 0.004657681065503797, + -0.0033512455024392596 + ], + "object_to_gripper_xy": 0.006591647083399636, + "object_to_gripper_z": -0.0033512455024392596, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20570166733477846, + -0.05521318745414399, + 0.9950971978252222 + ], + "finger_b": [ + 0.19410298199906043, + -0.03118494221835438, + 0.9950971978252222 + ], + "finger_midpoint": [ + 0.19990232466691943, + -0.04319906483624918, + 0.9950971978252222 + ], + "object_minus_finger_midpoint": [ + 0.005799342667859031, + 0.012014122617894803, + 0.0 + ], + "finger_gap": 0.02668119320098422, + "fingertip_max_gap": 0.09182113606459846, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013340596600492116, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9950971978252222, + "object_top_z": 1.0404636418322601, + "finger_top_clearance": 0.04536644400703793, + "fingertip_min_top_clearance": 0.013609933202111396, + "object_projection_between_fingers": 0.8110238322288328, + "object_to_finger_line_xy": 0.010445412000881163, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048410568032299234, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5761026313979638, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3424193324531992, + 0.3493145461843915, + 0.761106269596187 + ], + "gripper_position": [ + 0.3361357410804341, + 0.3137421658475999, + 1.0172006207801483 + ], + "target_minus_gripper": [ + 0.006283591372765129, + 0.03557238033679161, + -0.2560943511839613 + ], + "held_position": [ + 0.3409074680124251, + 0.3181790193606655, + 1.0137028923337321 + ], + "held_minus_target": [ + -0.0015118644407741133, + -0.031135526823726, + 0.25259662273754513 + ], + "held_minus_gripper": [ + 0.004771726931991016, + 0.004436853513065608, + -0.0034977284464161595 + ], + "xy_dist": 0.036123091830091825, + "held_xy_dist": 0.031172211417835573, + "held_gripper_dist": 0.007395211375935094, + "max_held_gripper_dist": 0.007399866747204777, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106269596187, + "held_z": 1.0137028923337321, + "required_height": 0.791106269596187, + "gripper_z": 1.0172006207801483, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19078418320102, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9417436533760652, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.153841251553839, + "max_source_tilt_deg": 89.67081643418217, + "source_upright_tilt_deg": 2.343942945787573, + "max_source_upright_tilt_deg": 89.88368301154702, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.153841251553839, + "source_upright_return_tilt_deg": 2.343942945787573, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.737759081973225e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3424, + 0.3493, + 0.7611 + ], + "controller_target_position": [ + 0.3424, + 0.3493, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0011, + -0.0003, + 0.0007 + ], + "controller_last_pour_pose_position": [ + 0.3435, + 0.3235, + 1.0273 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0645, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010974693920991919, + -0.00033467010704331737, + 0.0007332244676616687 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3439377716429433, + "source_return_step_error_deg": 2.153839449527863, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3438942611892424, + "source_return_best_wrist_position": -1.6121784448623657, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121784448623657 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3424, + 0.3493, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3424, + 0.3493, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0011, + -0.0003, + 0.0007 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3435, + 0.3235, + 1.0273 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0645, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0010974693920991919, + -0.00033467010704331737, + 0.0007332244676616687 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3439377716429433, + "pour_controller_source_return_step_error_deg": 2.153839449527863, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3438942611892424, + "pour_controller_source_return_best_wrist_position": -1.6121784448623657, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121784448623657, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036123091830091825, + "valid_pour_held_xy_dist": 0.031172211417835573, + "valid_pour_held_gripper_dist": 0.007395211375935094, + "valid_pour_required_height": 0.791106269596187, + "valid_pour_held_z": 1.0137028923337321, + "valid_pour_source_tilt_deg": 2.153841251553839, + "valid_pour_source_upright_tilt_deg": 2.343942945787573, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3409074680124251, + 0.29447885291973175, + 1.0137028923337321 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3297931066705063, + 0.3181790193606655, + 1.0137028923337321 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3353502873414657, + 0.3063289361401986, + 1.0137028923337321 + ], + "valid_pour_held_grasp_object_position": [ + 0.3409074680124251, + 0.3181790193606655, + 1.0137028923337321 + ], + "valid_pour_held_grasp_finger_gap": 0.02617683933110912, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023796569186093228, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010457811742150352, + -0.9991633327370097, + 0.039538192768985625 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005699996811028391, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033418172271312184, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3409074680124251, + 0.29447885291973175, + 1.0137028923337321 + ], + "held_grasp_finger_b": [ + 0.3297931066705063, + 0.3181790193606655, + 1.0137028923337321 + ], + "held_grasp_midpoint": [ + 0.3353502873414657, + 0.3063289361401986, + 1.0137028923337321 + ], + "held_grasp_object_position": [ + 0.3409074680124251, + 0.3181790193606655, + 1.0137028923337321 + ], + "held_grasp_finger_gap": 0.02617683933110912, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023796569186093228, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010457811742150352, + -0.9991633327370097, + 0.039538192768985625 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005699996811028391, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033418172271312184, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19995539738557766, + -0.030916262687777526, + 0.7565882271244256 + ], + "target_position": [ + 0.18350937735444306, + -0.035189159028548175, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.016992033957223946, + "xy_threshold": 0.08, + "gripper_dist": 0.22576243122845222, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565882271244256, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591598817387639, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08517140542896463, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19571872253225048, + "release_required_pad_clearance": 0.05258570271448232, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23406432208097264, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35130172516442965, + 0.3481931090462196, + 1.1656071350597803 + ], + "current_z": 1.1656071350597803, + "required_z": 0.8611063292008319, + "initial_z": 0.7611063292008319, + "lift_margin": 0.30450080585894845, + "gripper_z": 1.1545929820804097, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.346465153278727, + 0.34328932834258624, + 1.1545929820804097 + ], + "object_minus_gripper": [ + 0.004836571885702634, + 0.0049037807036333425, + 0.011014152979370584 + ], + "object_to_gripper_xy": 0.00688763332320296, + "object_to_gripper_z": 0.011014152979370584, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35130172516442965, + 0.32452607291813135, + 1.1656071350597803 + ], + "finger_b": [ + 0.33994472241870277, + 0.3481931090462196, + 1.1656071350597803 + ], + "finger_midpoint": [ + 0.3456232237915662, + 0.3363595909821755, + 1.1656071350597803 + ], + "object_minus_finger_midpoint": [ + 0.005678501372863465, + 0.01183351806404409, + 0.0 + ], + "finger_gap": 0.02625090685013913, + "fingertip_max_gap": 0.09046570035302412, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013125453425069553, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1656071350597803, + "object_top_z": 1.2154250511463065, + "finger_top_clearance": 0.04981791608652619, + "fingertip_min_top_clearance": 0.014945374825957857, + "object_projection_between_fingers": 0.812828879725267, + "object_to_finger_line_xy": 0.010239135578224449, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773285017651206, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36746693463405644, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3293010074188292, + -0.36114536913694184, + 0.8515395964290188 + ], + "target_position": [ + 0.322258744126276, + -0.362326832393423, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007140681179555439, + "xy_threshold": 0.08, + "gripper_dist": 0.18534418846713416, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395964290188, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07526808669118903, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08580351593195822, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1540444942053263, + "release_required_pad_clearance": 0.05290175796597911, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8430174828423663, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008492350578308105, + "max_z_decrease": 0.008492350578308105, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501642418778939, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008492350578308105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021175959450956176, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008492350578308105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008492982199742219, + "max_button_displacement": 0.12, + "button_start": [ + 0.1779586672782898, + -0.4185882806777954, + 0.7768088579177856 + ], + "button_final": [ + 0.1779586672782898, + -0.4185882806777954, + 0.7768089175224304 + ], + "closest_ee": [ + 0.179104594698934, + -0.4192500721059015, + 0.8037859814766724 + ], + "closest_button": [ + 0.17787466943264005, + -0.4185864329338074, + 0.7687974572181702 + ], + "closest_ee_minus_button": [ + 0.001229925266293952, + -0.0006636391720941104, + 0.034988524258502185 + ], + "button_min_z_position": [ + 0.17785938084125516, + -0.4185587763786316, + 0.7683165073394775 + ], + "min_active_finger_to_button": 0.14477586626155112, + "closest_active_finger": [ + 0.03836549073457718, + -0.40218913555145264, + 0.8081001043319702 + ], + "closest_active_finger_button": [ + 0.17796549201011658, + -0.41859444975852966, + 0.7734193205833435 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1396000012755394, + 0.016405314207077026, + 0.03468078374862671 + ], + "min_contact_pad_to_button": 0.021175959450956176, + "closest_contact_pad": [ + 0.17785938084125516, + -0.42049080514041687, + 0.7894041464565569 + ], + "closest_contact_pad_button": [ + 0.17785938084125516, + -0.4185587763786316, + 0.7683165073394775 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.001932028761785276, + 0.021087639117079338 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 66, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "44687d115f7828f94a5fab4aa14ec4749231b952573bfa01ec1390cb82afca93", + "visual_seed": 2152114287578154855, + "episode_index": 66, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_67_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_67_success.json new file mode 100644 index 0000000000000000000000000000000000000000..5d2cd15de9ed3425d11c0d8daeb556dbdf6e514b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_67_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 67, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20122982407576448, + -0.032291163917194644, + 0.9949725000495584 + ], + "current_z": 0.9949725000495584, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13838593303634805, + "gripper_z": 0.9979380249491263, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1966344472469892, + -0.036834697322277635, + 0.9979380249491263 + ], + "object_minus_gripper": [ + 0.004595376828775283, + 0.00454353340508299, + -0.0029655248995679173 + ], + "object_to_gripper_xy": 0.006462289377732152, + "object_to_gripper_z": -0.0029655248995679173, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20122982407576448, + -0.05643946390065104, + 0.9949725000495584 + ], + "finger_b": [ + 0.18998083391930826, + -0.032291163917194644, + 0.9949725000495584 + ], + "finger_midpoint": [ + 0.19560532899753635, + -0.04436531390892284, + 0.9949725000495584 + ], + "object_minus_finger_midpoint": [ + 0.0056244950782281256, + 0.012074149991728199, + 0.0 + ], + "finger_gap": 0.02663982304053556, + "fingertip_max_gap": 0.091371936579905, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013319911520267786, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949725000495584, + "object_top_z": 1.0403235230648822, + "finger_top_clearance": 0.04535102301532379, + "fingertip_min_top_clearance": 0.013605306904597136, + "object_projection_between_fingers": 0.8216946385169193, + "object_to_finger_line_xy": 0.010196914161018101, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0481859682899525, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2758989244006667, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34364268798489184, + 0.3484747167395063, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33526712735923797, + 0.31212637331875037, + 1.0165279997157428 + ], + "target_minus_gripper": [ + 0.008375560625653866, + 0.036348343420755935, + -0.2554216109102664 + ], + "held_position": [ + 0.3399442044685319, + 0.31649357449735216, + 1.0134257240840165 + ], + "held_minus_target": [ + -0.0036984835163599294, + -0.03198114224215415, + 0.2523193352785401 + ], + "held_minus_gripper": [ + 0.004677077109293937, + 0.004367201178601787, + -0.00310227563172627 + ], + "xy_dist": 0.03730083223236735, + "held_xy_dist": 0.03219428892573468, + "held_gripper_dist": 0.00711137191516973, + "max_held_gripper_dist": 0.00711606380149331, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0134257240840165, + "required_height": 0.7911063888054765, + "gripper_z": 1.0165279997157428, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19755973085768, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2424499980724688, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.244816068490173, + "max_source_tilt_deg": 89.99216891797198, + "source_upright_tilt_deg": 2.2608172548570806, + "max_source_upright_tilt_deg": 89.61610624091401, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.244816068490173, + "source_upright_return_tilt_deg": 2.2608172548570806, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3436, + 0.3485, + 0.7611 + ], + "controller_target_position": [ + 0.3436, + 0.3485, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0014, + -0.0015, + 0.0008 + ], + "controller_last_pour_pose_position": [ + 0.3422, + 0.3216, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0644, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013942855011454662, + -0.0014704701518239252, + 0.0007984820598544149 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.260760217451673, + "source_return_step_error_deg": 2.2447754233291555, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2681239505287927, + "source_return_best_wrist_position": -1.6125694513320923, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125694513320923 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3436, + 0.3485, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3436, + 0.3485, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0014, + -0.0015, + 0.0008 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3422, + 0.3216, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0644, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013942855011454662, + -0.0014704701518239252, + 0.0007984820598544149 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.260760217451673, + "pour_controller_source_return_step_error_deg": 2.2447754233291555, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2681239505287927, + "pour_controller_source_return_best_wrist_position": -1.6125694513320923, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125694513320923, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03730083223236735, + "valid_pour_held_xy_dist": 0.03219428892573468, + "valid_pour_held_gripper_dist": 0.00711137191516973, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0134257240840165, + "valid_pour_source_tilt_deg": 2.244816068490173, + "valid_pour_source_upright_tilt_deg": 2.2608172548570806, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3399442044685319, + 0.29276432049920825, + 1.0134257240840165 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32907169098566874, + 0.31649357449735216, + 1.0134257240840165 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33450794772710035, + 0.3046289474982802, + 1.0134257240840165 + ], + "valid_pour_held_grasp_object_position": [ + 0.3399442044685319, + 0.31649357449735216, + 1.0134257240840165 + ], + "valid_pour_held_grasp_finger_gap": 0.026101514223191534, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023825644857693944, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010564376044815109, + -0.9992216164302217, + 0.038007304789457345 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005579460088866181, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03340226385794909, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3399442044685319, + 0.29276432049920825, + 1.0134257240840165 + ], + "held_grasp_finger_b": [ + 0.32907169098566874, + 0.31649357449735216, + 1.0134257240840165 + ], + "held_grasp_midpoint": [ + 0.33450794772710035, + 0.3046289474982802, + 1.0134257240840165 + ], + "held_grasp_object_position": [ + 0.3399442044685319, + 0.31649357449735216, + 1.0134257240840165 + ], + "held_grasp_finger_gap": 0.026101514223191534, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023825644857693944, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010564376044815109, + -0.9992216164302217, + 0.038007304789457345 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005579460088866181, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03340226385794909, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18820011719479893, + -0.03155091579372499, + 0.7565862962345287 + ], + "target_position": [ + 0.17835441816640424, + -0.03470645162477917, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010339013286518154, + "xy_threshold": 0.08, + "gripper_dist": 0.22255146595874498, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862962345287, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572034286801987, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.088846248335835, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19292660030494915, + "release_required_pad_clearance": 0.0544231241679175, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.872675420858642, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35250621059002657, + 0.34675120467435355, + 1.1638819673196974 + ], + "current_z": 1.1638819673196974, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.302775578514221, + "gripper_z": 1.152786965840933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3477241398962435, + 0.342040898145067, + 1.152786965840933 + ], + "object_minus_gripper": [ + 0.004782070693783058, + 0.0047103065292865565, + 0.0110950014787643 + ], + "object_to_gripper_xy": 0.006712316121889548, + "object_to_gripper_z": 0.0110950014787643, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35250621059002657, + 0.3229368179970876, + 1.1638819673196974 + ], + "finger_b": [ + 0.3416613347199636, + 0.34675120467435355, + 1.1638819673196974 + ], + "finger_midpoint": [ + 0.3470837726549951, + 0.3348440113357206, + 1.1638819673196974 + ], + "object_minus_finger_midpoint": [ + 0.005422437935031443, + 0.011907193338632938, + 0.0 + ], + "finger_gap": 0.02616746731060181, + "fingertip_max_gap": 0.09061716258163596, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01308373365530087, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638819673196974, + "object_top_z": 1.213780261691916, + "finger_top_clearance": 0.0498982943722186, + "fingertip_min_top_clearance": 0.014969488311665578, + "object_projection_between_fingers": 0.8282385133805951, + "object_to_finger_line_xy": 0.009869662370113778, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047808581290817984, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.40010472682244935, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33245898142224306, + -0.36896370235152715, + 0.8515396025816522 + ], + "target_position": [ + 0.3257916388977325, + -0.37028840713230793, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006797668651484154, + "xy_threshold": 0.08, + "gripper_dist": 0.18199336111001357, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396025816522, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07537934414617807, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08579579966788424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15058032643696617, + "release_required_pad_clearance": 0.05289789983394212, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8355569708155103, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008465886116027832, + "max_z_decrease": 0.008465886116027832, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500281954329691, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008465886116027832, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02102491160356723, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008465886116027832, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008466650554562494, + "max_button_displacement": 0.12, + "button_start": [ + 0.18149156868457794, + -0.4265498518943786, + 0.7768088579177856 + ], + "button_final": [ + 0.18149156868457794, + -0.4265498518943786, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18082766683947862, + -0.42543164574711867, + 0.8038165142433912 + ], + "closest_button": [ + 0.18138788640499118, + -0.42655280232429504, + 0.7688361406326294 + ], + "closest_ee_minus_button": [ + -0.0005602195655125541, + 0.0011211565771763743, + 0.034980373610761784 + ], + "button_min_z_position": [ + 0.1813815236091614, + -0.42652097344398493, + 0.7683429718017578 + ], + "min_active_finger_to_button": 0.14603922806783187, + "closest_active_finger": [ + 0.053719379007816315, + -0.4882585406303406, + 0.8111425638198853 + ], + "closest_active_finger_button": [ + 0.18149895966053012, + -0.4265561103820801, + 0.776607871055603 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1277795806527138, + -0.0617024302482605, + 0.03453469276428223 + ], + "min_contact_pad_to_button": 0.02102491160356723, + "closest_contact_pad": [ + 0.1813815236091614, + -0.42652097344398493, + 0.789367883405325 + ], + "closest_contact_pad_button": [ + 0.1813815236091614, + -0.42652097344398493, + 0.7683429718017578 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02102491160356723 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 67, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "536c4736c7d4256298315a12099718f856a2ec01ba6e8744ab8ea0da2278693f", + "visual_seed": 6438992732396595818, + "episode_index": 67, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_68_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_68_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c6217acfc21c5209ca797886d31684e909f1f9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_68_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 68, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20458180448772195, + -0.03034145604783839, + 0.9975707425641648 + ], + "current_z": 0.9975707425641648, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1409842351555992, + "gripper_z": 1.0010985390203933, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19985289451256508, + -0.035037564290246334, + 1.0010985390203933 + ], + "object_minus_gripper": [ + 0.004728909975156875, + 0.004696108242407945, + -0.0035277964562284714 + ], + "object_to_gripper_xy": 0.006664534655739292, + "object_to_gripper_z": -0.0035277964562284714, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20458180448772195, + -0.05441238182436785, + 0.9975707425641648 + ], + "finger_b": [ + 0.19291402281406403, + -0.03034145604783839, + 0.9975707425641648 + ], + "finger_midpoint": [ + 0.198747913650893, + -0.04237691893610312, + 0.9975707425641648 + ], + "object_minus_finger_midpoint": [ + 0.005833890836828948, + 0.01203546288826473, + 0.0 + ], + "finger_gap": 0.026749702744579013, + "fingertip_max_gap": 0.09177942145952886, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.0133748513722895, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9975707425641648, + "object_top_z": 1.0429070435890897, + "finger_top_clearance": 0.04533630102492492, + "fingertip_min_top_clearance": 0.013600890307477475, + "object_projection_between_fingers": 0.8097438660605731, + "object_to_finger_line_xy": 0.010499343088972718, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04838971072976443, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6462686066726464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33903933186192126, + 0.3533636983202405, + 0.7611064484101211 + ], + "gripper_position": [ + 0.3326756769524761, + 0.31855036910913725, + 1.0176900449951054 + ], + "target_minus_gripper": [ + 0.006363654909445182, + 0.03481332921110325, + -0.2565835965849843 + ], + "held_position": [ + 0.3374933482827059, + 0.32304271681434604, + 1.0140197267362916 + ], + "held_minus_target": [ + -0.0015459835792153709, + -0.030320981505894462, + 0.2529132783261705 + ], + "held_minus_gripper": [ + 0.004817671330229811, + 0.004492347705208788, + -0.0036703182588138095 + ], + "xy_dist": 0.035390168049433735, + "held_xy_dist": 0.030360368652373074, + "held_gripper_dist": 0.007540714891281527, + "max_held_gripper_dist": 0.007545378713059844, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0140197267362916, + "required_height": 0.7911064484101211, + "gripper_z": 1.0176900449951054, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19550384391749, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.0138461424147582, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1410924720531592, + "max_source_tilt_deg": 89.59575060371454, + "source_upright_tilt_deg": 2.4450749537042187, + "max_source_upright_tilt_deg": 89.97547035507031, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1410924720531592, + "source_upright_return_tilt_deg": 2.4450749537042187, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.339, + 0.3534, + 0.7611 + ], + "controller_target_position": [ + 0.339, + 0.3534, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0009, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3391, + 0.3288, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0649, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010762549242318521, + 0.0009033586427070273, + 0.001467887718447553 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.445104092811611, + "source_return_step_error_deg": 2.141132757947898, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.4471135701248254, + "source_return_best_wrist_position": -1.6124097108840942, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124097108840942 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.339, + 0.3534, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.339, + 0.3534, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0009, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3391, + 0.3288, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0649, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.00010762549242318521, + 0.0009033586427070273, + 0.001467887718447553 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.445104092811611, + "pour_controller_source_return_step_error_deg": 2.141132757947898, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.4471135701248254, + "pour_controller_source_return_best_wrist_position": -1.6124097108840942, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124097108840942, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035390168049433735, + "valid_pour_held_xy_dist": 0.030360368652373074, + "valid_pour_held_gripper_dist": 0.007540714891281527, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0140197267362916, + "valid_pour_source_tilt_deg": 2.1410924720531592, + "valid_pour_source_upright_tilt_deg": 2.4450749537042187, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3374933482827059, + 0.2993968326880228, + 1.0140197267362916 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3261988343085324, + 0.32304271681434604, + 1.0140197267362916 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33184609129561915, + 0.31121977475118445, + 1.0140197267362916 + ], + "valid_pour_held_grasp_object_position": [ + 0.3374933482827059, + 0.32304271681434604, + 1.0140197267362916 + ], + "valid_pour_held_grasp_finger_gap": 0.02620484462896708, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023814582607243128, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016842335089170487, + -0.9990895875160578, + 0.039196069518991246 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005863774460233973, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03348315965121156, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3374933482827059, + 0.2993968326880228, + 1.0140197267362916 + ], + "held_grasp_finger_b": [ + 0.3261988343085324, + 0.32304271681434604, + 1.0140197267362916 + ], + "held_grasp_midpoint": [ + 0.33184609129561915, + 0.31121977475118445, + 1.0140197267362916 + ], + "held_grasp_object_position": [ + 0.3374933482827059, + 0.32304271681434604, + 1.0140197267362916 + ], + "held_grasp_finger_gap": 0.02620484462896708, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023814582607243128, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016842335089170487, + -0.9990895875160578, + 0.039196069518991246 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005863774460233973, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03348315965121156, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18638843138978833, + -0.03707198429047025, + 0.7565863371647179 + ], + "target_position": [ + 0.18209136692982952, + -0.033986402704689764, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005290139572407207, + "xy_threshold": 0.08, + "gripper_dist": 0.21957275626861722, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863371647179, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07598044874816093, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0899119869937758, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18892013783941167, + "release_required_pad_clearance": 0.0549559934968879, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.981615567061774, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34800692892388846, + 0.3518242608124782, + 1.1645759723616265 + ], + "current_z": 1.1645759723616265, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.3034695239515054, + "gripper_z": 1.1534089909557612, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34324340098922357, + 0.34699859517844195, + 1.1534089909557612 + ], + "object_minus_gripper": [ + 0.004763527934664891, + 0.004825665634036247, + 0.01116698140586525 + ], + "object_to_gripper_xy": 0.006780726155497744, + "object_to_gripper_z": 0.01116698140586525, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34800692892388846, + 0.32782303217498693, + 1.1645759723616265 + ], + "finger_b": [ + 0.3372348773972152, + 0.3518242608124782, + 1.1645759723616265 + ], + "finger_midpoint": [ + 0.3426209031605518, + 0.33982364649373253, + 1.1645759723616265 + ], + "object_minus_finger_midpoint": [ + 0.005386025763336633, + 0.012000614318745662, + 0.0 + ], + "finger_gap": 0.02630771883311882, + "fingertip_max_gap": 0.09017299684841704, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013153859416559437, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1645759723616265, + "object_top_z": 1.2145895740557107, + "finger_top_clearance": 0.0500136016940842, + "fingertip_min_top_clearance": 0.015004080508225258, + "object_projection_between_fingers": 0.8323396142686325, + "object_to_finger_line_xy": 0.009827627899878665, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04758649842420852, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4790218767983608, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33031483471447776, + -0.36692138587918577, + 0.8515396135167916 + ], + "target_position": [ + 0.32537168849479375, + -0.3672215100165959, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004952248887831914, + "xy_threshold": 0.08, + "gripper_dist": 0.18251617063259515, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396135167916, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07591024427958108, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08724396766170676, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1495387730239521, + "release_required_pad_clearance": 0.053621983830853384, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.2541817947872, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008626878261566162, + "max_z_decrease": 0.008626878261566162, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03509859776835503, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008626878261566162, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02099357514426714, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008626878261566162, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008626939734878698, + "max_button_displacement": 0.12, + "button_start": [ + 0.18107160925865165, + -0.4234829545021057, + 0.7768088579177856 + ], + "button_final": [ + 0.18107160925865165, + -0.4234829545021057, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1789391274723737, + -0.42125556990089363, + 0.803147701177823 + ], + "closest_button": [ + 0.18104690313339228, + -0.4234617352485657, + 0.7681819796562195 + ], + "closest_ee_minus_button": [ + -0.0021077756610185794, + 0.00220616534767204, + 0.03496572152160349 + ], + "button_min_z_position": [ + 0.18104690313339228, + -0.4234617352485657, + 0.7681819796562195 + ], + "min_active_finger_to_button": 0.14685442443858676, + "closest_active_finger": [ + 0.05169302225112915, + -0.4837891757488251, + 0.808296263217926 + ], + "closest_active_finger_button": [ + 0.18107390403747553, + -0.4234901964664459, + 0.7737876772880554 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12938088178634638, + -0.06029897928237915, + 0.034508585929870605 + ], + "min_contact_pad_to_button": 0.02099357514426714, + "closest_contact_pad": [ + 0.18104690313339228, + -0.4234617352485657, + 0.7891755548004866 + ], + "closest_contact_pad_button": [ + 0.18104690313339228, + -0.4234617352485657, + 0.7681819796562195 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02099357514426714 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 68, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "530fa81f865c735d6147b35dc2fc91e13ae0a326401682bf6e244b84350e3864", + "visual_seed": 6585297328905083438, + "episode_index": 68, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_69_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_69_success.json new file mode 100644 index 0000000000000000000000000000000000000000..bb6d7188257eee2715fca22e6c0094afebb7f629 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_69_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 69, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20134852418277394, + -0.03187735610968509, + 0.9978779892915854 + ], + "current_z": 0.9978779892915854, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.1412914222783751, + "gripper_z": 1.0008570277372488, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1968717578627827, + -0.03640158464178826, + 1.0008570277372488 + ], + "object_minus_gripper": [ + 0.004476766319991249, + 0.004524228532103172, + -0.0029790384456633845 + ], + "object_to_gripper_xy": 0.006364752979849605, + "object_to_gripper_z": -0.0029790384456633845, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20134852418277394, + -0.05586988758764458, + 0.9978779892915854 + ], + "finger_b": [ + 0.18998799557139756, + -0.03187735610968509, + 0.9978779892915854 + ], + "finger_midpoint": [ + 0.19566825987708575, + -0.043873621848664834, + 0.9978779892915854 + ], + "object_minus_finger_midpoint": [ + 0.005680264305688187, + 0.011996265738979744, + 0.0 + ], + "finger_gap": 0.02654624600674789, + "fingertip_max_gap": 0.09136241843604034, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013273123003373945, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978779892915854, + "object_top_z": 1.0431904896276383, + "finger_top_clearance": 0.04531250033605283, + "fingertip_min_top_clearance": 0.013593750100815831, + "object_projection_between_fingers": 0.8168567780976506, + "object_to_finger_line_xy": 0.010267660453588123, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048181209218020174, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3738620388017821, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3401763202633342, + 0.35749173720344957, + 0.7611066272240555 + ], + "gripper_position": [ + 0.33323129633844006, + 0.32192960784514246, + 1.0164967888662038 + ], + "target_minus_gripper": [ + 0.006945023924894156, + 0.035562129358307104, + -0.25539016164214823 + ], + "held_position": [ + 0.33777823560338005, + 0.326300293625412, + 1.0134002658691974 + ], + "held_minus_target": [ + -0.0023980846599541694, + -0.031191443578037548, + 0.25229363864514187 + ], + "held_minus_gripper": [ + 0.0045469392649399865, + 0.0043706857802695565, + -0.003096522997006357 + ], + "xy_dist": 0.036233939915696727, + "held_xy_dist": 0.031283493451310825, + "held_gripper_dist": 0.007026094615068368, + "max_held_gripper_dist": 0.007032819320917196, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240555, + "held_z": 1.0134002658691974, + "required_height": 0.7911066272240556, + "gripper_z": 1.0164967888662038, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20479290118871, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9254384972818254, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.177450397175259, + "max_source_tilt_deg": 89.63718213804185, + "source_upright_tilt_deg": 2.3212222768851944, + "max_source_upright_tilt_deg": 89.9796075818574, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.177450397175259, + "source_upright_return_tilt_deg": 2.3212222768851944, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3402, + 0.3575, + 0.7611 + ], + "controller_target_position": [ + 0.3402, + 0.3575, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0005, + -0.0003, + -0.0 + ], + "controller_last_pour_pose_position": [ + 0.3407, + 0.3318, + 1.0265 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.0646, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005447085076289169, + -0.0003319035268785609, + -1.4384177917920512e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.321229092120975, + "source_return_step_error_deg": 2.177440956541664, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.329880274589821, + "source_return_best_wrist_position": -1.6129480600357056, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6129480600357056 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3402, + 0.3575, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3402, + 0.3575, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0005, + -0.0003, + -0.0 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3407, + 0.3318, + 1.0265 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.0646, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0005447085076289169, + -0.0003319035268785609, + -1.4384177917920512e-05 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.321229092120975, + "pour_controller_source_return_step_error_deg": 2.177440956541664, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.329880274589821, + "pour_controller_source_return_best_wrist_position": -1.6129480600357056, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6129480600357056, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.036233939915696727, + "valid_pour_held_xy_dist": 0.031283493451310825, + "valid_pour_held_gripper_dist": 0.007026094615068368, + "valid_pour_required_height": 0.7911066272240556, + "valid_pour_held_z": 1.0134002658691974, + "valid_pour_source_tilt_deg": 2.177450397175259, + "valid_pour_source_upright_tilt_deg": 2.3212222768851944, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33777823560338005, + 0.30279834633631236, + 1.0134002658691974 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3267401582348009, + 0.326300293625412, + 1.0134002658691974 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33225919691909045, + 0.3145493199808622, + 1.0134002658691974 + ], + "valid_pour_held_grasp_object_position": [ + 0.33777823560338005, + 0.326300293625412, + 1.0134002658691974 + ], + "valid_pour_held_grasp_finger_gap": 0.0259649894737964, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023658021475794478, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.015886661498055826, + -0.9991794717343235, + 0.03725583512907282 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005721673888843717, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033546572426657505, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33777823560338005, + 0.30279834633631236, + 1.0134002658691974 + ], + "held_grasp_finger_b": [ + 0.3267401582348009, + 0.326300293625412, + 1.0134002658691974 + ], + "held_grasp_midpoint": [ + 0.33225919691909045, + 0.3145493199808622, + 1.0134002658691974 + ], + "held_grasp_object_position": [ + 0.33777823560338005, + 0.326300293625412, + 1.0134002658691974 + ], + "held_grasp_finger_gap": 0.0259649894737964, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023658021475794478, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.015886661498055826, + -0.9991794717343235, + 0.03725583512907282 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005721673888843717, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033546572426657505, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1825139110149761, + -0.041894670638467406, + 0.7565865676452614 + ], + "target_position": [ + 0.17732730135736707, + -0.03562106221549023, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008139968205420303, + "xy_threshold": 0.08, + "gripper_dist": 0.22013419579467208, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565865676452614, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07543894816669232, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08764072282015552, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1896125510810465, + "release_required_pad_clearance": 0.05382036141007776, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.6500068104736365, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 259, + "max_placed_release_frames": 259 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34890111216168884, + 0.3549153060642218, + 1.1634115062385988 + ], + "current_z": 1.1634115062385988, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.30230493861918806, + "gripper_z": 1.152311020934811, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3440617342362609, + 0.35024689000090453, + 1.152311020934811 + ], + "object_minus_gripper": [ + 0.0048393779254279345, + 0.004668416063317249, + 0.01110048530378771 + ], + "object_to_gripper_xy": 0.006724112376020919, + "object_to_gripper_z": 0.01110048530378771, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34890111216168884, + 0.33090026756600055, + 1.1634115062385988 + ], + "finger_b": [ + 0.33833038312481634, + 0.3549153060642218, + 1.1634115062385988 + ], + "finger_midpoint": [ + 0.3436157476432526, + 0.34290778681511114, + 1.1634115062385988 + ], + "object_minus_finger_midpoint": [ + 0.005285364518436253, + 0.012007519249110643, + 0.0 + ], + "finger_gap": 0.026238566775683984, + "fingertip_max_gap": 0.09039293454717665, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013119283387842016, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1634115062385988, + "object_top_z": 1.2132632908401355, + "finger_top_clearance": 0.04985178460153672, + "fingertip_min_top_clearance": 0.014955535380461016, + "object_projection_between_fingers": 0.8376958355728722, + "object_to_finger_line_xy": 0.009674936399727963, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047696467273588325, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.20287450763206738, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3319546124060861, + -0.36434667371262225, + 0.8515395777258015 + ], + "target_position": [ + 0.32456277758790936, + -0.36552483619270587, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007485137861702126, + "xy_threshold": 0.08, + "gripper_dist": 0.18353718693847668, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395777258015, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07544579274692606, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0852877396438012, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15186785384563042, + "release_required_pad_clearance": 0.0526438698219006, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3471788061298458, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008689701557159424, + "max_z_decrease": 0.008689701557159424, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501439060872074, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008689701557159424, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 80, + "contact_point_distance": 0.021001936547525517, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008689701557159424, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 80, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008690254802739874, + "max_button_displacement": 0.12, + "button_start": [ + 0.18026269972324366, + -0.4217863082885743, + 0.7768088579177856 + ], + "button_final": [ + 0.18026269972324366, + -0.4217863082885743, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1808999635126527, + -0.42231658939251837, + 0.8031214408462526 + ], + "closest_button": [ + 0.18016929924488062, + -0.42175644636154175, + 0.7681191563606262 + ], + "closest_ee_minus_button": [ + 0.0007306642677720743, + -0.0005601430309766231, + 0.03500228448562637 + ], + "button_min_z_position": [ + 0.18016929924488062, + -0.42175644636154175, + 0.7681191563606262 + ], + "min_active_finger_to_button": 0.14520274614987913, + "closest_active_finger": [ + 0.03983158618211746, + -0.4084485173225403, + 0.8111965656280518 + ], + "closest_active_finger_button": [ + 0.18026794493198395, + -0.42179006338119507, + 0.776794970035553 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14043635874986649, + 0.013341546058654785, + 0.03440159559249878 + ], + "min_contact_pad_to_button": 0.021001936547525517, + "closest_contact_pad": [ + 0.18016929924488062, + -0.4232943710237307, + 0.7890647078329489 + ], + "closest_contact_pad_button": [ + 0.18016929924488062, + -0.42175644636154175, + 0.7681191563606262 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015379246621889386, + 0.020945551472322688 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 69, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "af3dea207363f9043f893f6a2e8ab12d2ff39cba153ffdf5401d430f4b379216", + "visual_seed": 3659057510502036998, + "episode_index": 69, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_6_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_6_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1f44d04f72305b33438742da24d706b7f1884c18 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_6_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 6, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2052352005146021, + -0.03684978276243913, + 0.9947427519751166 + ], + "current_z": 0.9947427519751166, + "required_z": 0.8565866266178551, + "initial_z": 0.7565866266178551, + "lift_margin": 0.13815612535726152, + "gripper_z": 0.9980689625421493, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2005149210970314, + -0.04142495412811577, + 0.9980689625421493 + ], + "object_minus_gripper": [ + 0.004720279417570694, + 0.004575171365676638, + -0.003326210567032639 + ], + "object_to_gripper_xy": 0.006573677114465614, + "object_to_gripper_z": -0.003326210567032639, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2052352005146021, + -0.06110112924160057, + 0.9947427519751166 + ], + "finger_b": [ + 0.194015416690592, + -0.03684978276243913, + 0.9947427519751166 + ], + "finger_midpoint": [ + 0.19962530860259703, + -0.04897545600201985, + 0.9947427519751166 + ], + "object_minus_finger_midpoint": [ + 0.0056098919120050605, + 0.01212567323958072, + 0.0 + ], + "finger_gap": 0.026720990908083, + "fingertip_max_gap": 0.09191074633946628, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360495454041508, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9947427519751166, + "object_top_z": 1.0401538874359848, + "finger_top_clearance": 0.04541113546086817, + "fingertip_min_top_clearance": 0.013623340638260433, + "object_projection_between_fingers": 0.823695312187086, + "object_to_finger_line_xy": 0.010182813424596907, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845537316973314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.585797469150557, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33904955405850024, + 0.354953801231236, + 0.7611062695961868 + ], + "gripper_position": [ + 0.333079732567396, + 0.3197392115675645, + 1.0176104650852944 + ], + "target_minus_gripper": [ + 0.005969821491104255, + 0.03521458966367147, + -0.25650419548910763 + ], + "held_position": [ + 0.33787040791299267, + 0.3241235887683989, + 1.0141300200665104 + ], + "held_minus_target": [ + -0.0011791461455075702, + -0.03083021246283707, + 0.25302375047032366 + ], + "held_minus_gripper": [ + 0.004790675345596684, + 0.0043843772008343995, + -0.003480445018783973 + ], + "xy_dist": 0.03571702806528572, + "held_xy_dist": 0.030852753299116426, + "held_gripper_dist": 0.00736795977424433, + "max_held_gripper_dist": 0.007372776490642314, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961868, + "held_z": 1.0141300200665104, + "required_height": 0.7911062695961868, + "gripper_z": 1.0176104650852944, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20125486319864, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8086941061515938, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3161982601539455, + "max_source_tilt_deg": 89.79493015085482, + "source_upright_tilt_deg": 2.5297162373007875, + "max_source_upright_tilt_deg": 89.98920002269605, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3161982601539455, + "source_upright_return_tilt_deg": 2.5297162373007875, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.0745380149674383e-07, + "max_target_xy_drift": 1.6858739404357614e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.339, + 0.355, + 0.7611 + ], + "controller_target_position": [ + 0.339, + 0.355, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0007, + 0.0003, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.3398, + 0.3297, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0671, + 0.065, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007040390461412163, + 0.00029116970643938266, + 0.0014765397982867434 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.529724633988273, + "source_return_step_error_deg": 2.3162122587279423, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.528957822022947, + "source_return_best_wrist_position": -1.612793207168579, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612793207168579 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.339, + 0.355, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.339, + 0.355, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0007, + 0.0003, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3398, + 0.3297, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0671, + 0.065, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0007040390461412163, + 0.00029116970643938266, + 0.0014765397982867434 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.529724633988273, + "pour_controller_source_return_step_error_deg": 2.3162122587279423, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.528957822022947, + "pour_controller_source_return_best_wrist_position": -1.612793207168579, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612793207168579, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03571702806528572, + "valid_pour_held_xy_dist": 0.030852753299116426, + "valid_pour_held_gripper_dist": 0.00736795977424433, + "valid_pour_required_height": 0.7911062695961868, + "valid_pour_held_z": 1.0141300200665104, + "valid_pour_source_tilt_deg": 2.3161982601539455, + "valid_pour_source_upright_tilt_deg": 2.5297162373007875, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.0745380149674383e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33787040791299267, + 0.30032838301192594, + 1.0141300200665104 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3269590583479395, + 0.3241235887683989, + 1.0141300200665104 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3324147331304661, + 0.3122259858901624, + 1.0141300200665104 + ], + "valid_pour_held_grasp_object_position": [ + 0.33787040791299267, + 0.3241235887683989, + 1.0141300200665104 + ], + "valid_pour_held_grasp_finger_gap": 0.02617765012990416, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02396641607646759, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017816251157896083, + -0.9990254749395613, + 0.04038169902892763 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005686943920884166, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03341141627189957, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33787040791299267, + 0.30032838301192594, + 1.0141300200665104 + ], + "held_grasp_finger_b": [ + 0.3269590583479395, + 0.3241235887683989, + 1.0141300200665104 + ], + "held_grasp_midpoint": [ + 0.3324147331304661, + 0.3122259858901624, + 1.0141300200665104 + ], + "held_grasp_object_position": [ + 0.33787040791299267, + 0.3241235887683989, + 1.0141300200665104 + ], + "held_grasp_finger_gap": 0.02617765012990416, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02396641607646759, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017816251157896083, + -0.9990254749395613, + 0.04038169902892763 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005686943920884166, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03341141627189957, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18838017576403687, + -0.034048773286333746, + 0.7565863738569629 + ], + "target_position": [ + 0.18358293372187998, + -0.03858577088398762, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006602868953125957, + "xy_threshold": 0.08, + "gripper_dist": 0.21894005853197251, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863738569629, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0756640844319276, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08717472165098518, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19053601915747334, + "release_required_pad_clearance": 0.05358736082549259, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.185422265302407, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 248, + "max_placed_release_frames": 248 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34803405839632173, + 0.3532783645874894, + 1.1663885092316186 + ], + "current_z": 1.1663885092316186, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.3052821800307871, + "gripper_z": 1.155049785049354, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34320647611736776, + 0.3484998011531817, + 1.155049785049354 + ], + "object_minus_gripper": [ + 0.004827582278953968, + 0.004778563434307714, + 0.01133872418226467 + ], + "object_to_gripper_xy": 0.006792659210925653, + "object_to_gripper_z": 0.01133872418226467, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34803405839632173, + 0.3292253159836812, + 1.1663885092316186 + ], + "finger_b": [ + 0.3373466948052886, + 0.3532783645874894, + 1.1663885092316186 + ], + "finger_midpoint": [ + 0.34269037660080515, + 0.3412518402855853, + 1.1663885092316186 + ], + "object_minus_finger_midpoint": [ + 0.005343681795516586, + 0.012026524301904096, + 0.0 + ], + "finger_gap": 0.026320503180298424, + "fingertip_max_gap": 0.09032056815381387, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013160251590149222, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1663885092316186, + "object_top_z": 1.2164749304507194, + "finger_top_clearance": 0.050086421219100785, + "fingertip_min_top_clearance": 0.015025926365730267, + "object_projection_between_fingers": 0.835125764795717, + "object_to_finger_line_xy": 0.009766670269970692, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047660284076906936, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4044044443299429, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 385, + "max_stable_success_frames": 385, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32641817120684125, + -0.36491576374831947, + 0.8515395793419884 + ], + "target_position": [ + 0.32223072192063834, + -0.3647599835280261, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.004190345928626403, + "xy_threshold": 0.08, + "gripper_dist": 0.18030719410499987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395793419884, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563558723433947, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08553203378686179, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14807773403014735, + "release_required_pad_clearance": 0.0527660168934309, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5814803175731871, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00847715139389038, + "max_z_decrease": 0.00847715139389038, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503678124031505, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00847715139389038, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021059879325032397, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00847715139389038, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008477284204270038, + "max_button_displacement": 0.12, + "button_start": [ + 0.1779306530952453, + -0.42102143168449396, + 0.7768088579177856 + ], + "button_final": [ + 0.1779306530952453, + -0.42102143168449396, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17582350874343497, + -0.42084371892770356, + 0.8033073428271991 + ], + "closest_button": [ + 0.17788627743721003, + -0.4210046231746673, + 0.7683317065238953 + ], + "closest_ee_minus_button": [ + -0.0020627686937750578, + 0.0001609042469637445, + 0.0349756363033038 + ], + "button_min_z_position": [ + 0.17788627743721003, + -0.4210046231746673, + 0.7683317065238953 + ], + "min_active_finger_to_button": 0.14767446253885008, + "closest_active_finger": [ + 0.0480705127120018, + -0.4822477102279663, + 0.8109021782875061 + ], + "closest_active_finger_button": [ + 0.17793802917003626, + -0.42102691531181324, + 0.7763451337814331 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12986751645803446, + -0.061220794916153065, + 0.034557044506073 + ], + "min_contact_pad_to_button": 0.021059879325032397, + "closest_contact_pad": [ + 0.17788627743721003, + -0.42217570228157286, + 0.7893590004750982 + ], + "closest_contact_pad_button": [ + 0.17788627743721003, + -0.4210046231746673, + 0.7683317065238953 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0011710791069055593, + 0.021027293951202952 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 6, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d95989e3040fa0efd16c60f27b396dbcc6e8b888f820a769629f368adb6cb378", + "visual_seed": 5566537052306065210, + "episode_index": 6, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_70_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_70_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1847bec29c6d92d7bd8ef2e2f070fc02bf485436 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_70_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 70, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2021176855605483, + -0.029093532439538283, + 0.9978189790532377 + ], + "current_z": 0.9978189790532377, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14123247164467212, + "gripper_z": 1.0009260261187207, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19727554750359266, + -0.03374024089950502, + 1.0009260261187207 + ], + "object_minus_gripper": [ + 0.0048421380569556305, + 0.004646708459966734, + -0.0031070470654830373 + ], + "object_to_gripper_xy": 0.006711050623750685, + "object_to_gripper_z": -0.0031070470654830373, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2021176855605483, + -0.053412698472933895, + 0.9978189790532377 + ], + "finger_b": [ + 0.19081262355217624, + -0.029093532439538283, + 0.9978189790532377 + ], + "finger_midpoint": [ + 0.19646515455636226, + -0.04125311545623609, + 0.9978189790532377 + ], + "object_minus_finger_midpoint": [ + 0.005652531004186029, + 0.012159583016697808, + 0.0 + ], + "finger_gap": 0.026818394127408152, + "fingertip_max_gap": 0.09203679413402852, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013409197063704078, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9978189790532377, + "object_top_z": 1.0434420508857487, + "finger_top_clearance": 0.04562307183251102, + "fingertip_min_top_clearance": 0.013686921549753322, + "object_projection_between_fingers": 0.8223028920297968, + "object_to_finger_line_xy": 0.010251534028969223, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04851839706701426, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4167894183684924, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3429381610836467, + 0.34826100428566403, + 0.7611063292008314 + ], + "gripper_position": [ + 0.33110870198747216, + 0.3114786848582842, + 1.0201434765266093 + ], + "target_minus_gripper": [ + 0.011829459096174555, + 0.036782319427379806, + -0.2590371473257779 + ], + "held_position": [ + 0.3359689022036808, + 0.31600289823015837, + 1.0168868047259538 + ], + "held_minus_target": [ + -0.006969258879965912, + -0.032258106055505664, + 0.2557804755251224 + ], + "held_minus_gripper": [ + 0.004860200216208643, + 0.004524213371874142, + -0.003256671800655475 + ], + "xy_dist": 0.03863774223432147, + "held_xy_dist": 0.03300236318241824, + "held_gripper_dist": 0.007395671977113636, + "max_held_gripper_dist": 0.007401654884243168, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008314, + "held_z": 1.0168868047259538, + "required_height": 0.7911063292008315, + "gripper_z": 1.0201434765266093, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.17928897482788, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.633403621957626, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1190845277057524, + "max_source_tilt_deg": 89.90968074763347, + "source_upright_tilt_deg": 2.6100604249869996, + "max_source_upright_tilt_deg": 89.74080905191967, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1190845277057524, + "source_upright_return_tilt_deg": 2.6100604249869996, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3429, + 0.3483, + 0.7611 + ], + "controller_target_position": [ + 0.3429, + 0.3483, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0018, + -0.0013, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3411, + 0.3217, + 1.0253 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0653, + 0.0936 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018090686001143075, + -0.0013305303776816962, + -0.001103074227641459 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.610059539491438, + "source_return_step_error_deg": 2.1190708693844575, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.6115460243866138, + "source_return_best_wrist_position": -1.6121954917907715, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6121954917907715 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3429, + 0.3483, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3429, + 0.3483, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0018, + -0.0013, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3411, + 0.3217, + 1.0253 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0653, + 0.0936 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0018090686001143075, + -0.0013305303776816962, + -0.001103074227641459 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.610059539491438, + "pour_controller_source_return_step_error_deg": 2.1190708693844575, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.6115460243866138, + "pour_controller_source_return_best_wrist_position": -1.6121954917907715, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6121954917907715, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03863774223432147, + "valid_pour_held_xy_dist": 0.03300236318241824, + "valid_pour_held_gripper_dist": 0.007395671977113636, + "valid_pour_required_height": 0.7911063292008315, + "valid_pour_held_z": 1.0168868047259538, + "valid_pour_source_tilt_deg": 2.1190845277057524, + "valid_pour_source_upright_tilt_deg": 2.6100604249869996, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3359689022036808, + 0.2922914764854718, + 1.0168868047259538 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32470724428440517, + 0.31600289823015837, + 1.0168868047259538 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33033807324404296, + 0.3041471873578151, + 1.0168868047259538 + ], + "valid_pour_held_grasp_object_position": [ + 0.3359689022036808, + 0.31600289823015837, + 1.0168868047259538 + ], + "valid_pour_held_grasp_finger_gap": 0.026249884956798905, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023984710572632663, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02645144086561091, + -0.9989625990875114, + 0.03706813861603209 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005958483733105112, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0335057567579949, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3359689022036808, + 0.2922914764854718, + 1.0168868047259538 + ], + "held_grasp_finger_b": [ + 0.32470724428440517, + 0.31600289823015837, + 1.0168868047259538 + ], + "held_grasp_midpoint": [ + 0.33033807324404296, + 0.3041471873578151, + 1.0168868047259538 + ], + "held_grasp_object_position": [ + 0.3359689022036808, + 0.31600289823015837, + 1.0168868047259538 + ], + "held_grasp_finger_gap": 0.026249884956798905, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023984710572632663, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02645144086561091, + -0.9989625990875114, + 0.03706813861603209 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005958483733105112, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0335057567579949, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19246958810454926, + -0.03374248840102978, + 0.7565869993256779 + ], + "target_position": [ + 0.18140696412116838, + -0.030778007949261898, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011452938214562565, + "xy_threshold": 0.08, + "gripper_dist": 0.22020716973412857, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869993256779, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579931267908473, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08550252310071842, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18940051866386196, + "release_required_pad_clearance": 0.05275126155035921, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5510710388052636, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 252, + "max_placed_release_frames": 252 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35192348371256676, + 0.3432858529530228, + 1.1635225853857234 + ], + "current_z": 1.1635225853857234, + "required_z": 0.8611063292008314, + "initial_z": 0.7611063292008314, + "lift_margin": 0.302416256184892, + "gripper_z": 1.1524650698404222, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3472490562451781, + 0.33854683365301297, + 1.1524650698404222 + ], + "object_minus_gripper": [ + 0.004674427467388664, + 0.004739019300009806, + 0.01105751554530121 + ], + "object_to_gripper_xy": 0.006656468739034462, + "object_to_gripper_z": 0.01105751554530121, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35192348371256676, + 0.31973552489661144, + 1.1635225853857234 + ], + "finger_b": [ + 0.34078277619428754, + 0.3432858529530228, + 1.1635225853857234 + ], + "finger_midpoint": [ + 0.34635312995342715, + 0.3315106889248171, + 1.1635225853857234 + ], + "object_minus_finger_midpoint": [ + 0.005570353759139612, + 0.011775164028205665, + 0.0 + ], + "finger_gap": 0.02605251073452303, + "fingertip_max_gap": 0.09113517769044946, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013026255367261515, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635225853857234, + "object_top_z": 1.2134943023657219, + "finger_top_clearance": 0.04997171697999847, + "fingertip_min_top_clearance": 0.014991515093999541, + "object_projection_between_fingers": 0.8171367735158758, + "object_to_finger_line_xy": 0.010070711399355937, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04806758884522473, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.7976830517946809, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33109333101876237, + -0.3685868710322456, + 0.8515395611643807 + ], + "target_position": [ + 0.3253204403813452, + -0.36959537017727984, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005860318834083467, + "xy_threshold": 0.08, + "gripper_dist": 0.18502576949300956, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395611643807, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07547975572836658, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08592457776651506, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15318025479952205, + "release_required_pad_clearance": 0.05296228888325753, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.9602108207663044, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008495628833770752, + "max_z_decrease": 0.008495628833770752, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035001269478679195, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008495628833770752, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02105269460693974, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008495628833770752, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008495853062274268, + "max_button_displacement": 0.12, + "button_start": [ + 0.1810203641653061, + -0.42585682868957514, + 0.7768088579177856 + ], + "button_final": [ + 0.1810203641653061, + -0.42585682868957514, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18102983833791875, + -0.4254469307672162, + 0.8033121844316272 + ], + "closest_button": [ + 0.18096013367176056, + -0.4258433282375335, + 0.7683132290840149 + ], + "closest_ee_minus_button": [ + 6.970466615818793e-05, + 0.0003963974703173334, + 0.034998955347612326 + ], + "button_min_z_position": [ + 0.18096013367176056, + -0.4258433282375335, + 0.7683132290840149 + ], + "min_active_finger_to_button": 0.1457348271941731, + "closest_active_finger": [ + 0.05391129106283188, + -0.48819699883461, + 0.8099332451820374 + ], + "closest_active_finger_button": [ + 0.18103210628032684, + -0.42586418986320496, + 0.775385320186615 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12712081521749496, + -0.06233280897140503, + 0.03454792499542236 + ], + "min_contact_pad_to_button": 0.02105269460693974, + "closest_contact_pad": [ + 0.18096013367176056, + -0.4266473942091966, + 0.7893505632337184 + ], + "closest_contact_pad_button": [ + 0.18096013367176056, + -0.4258433282375335, + 0.7683132290840149 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008040659716631038, + 0.021037334149703546 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 70, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "549a43e5dc9f4eb38c71035614c90c36a72ca79366503e0e2ce8c30a2d6f7a1e", + "visual_seed": 8643041373911430845, + "episode_index": 70, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_71_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_71_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e861be46ab92c4c1c06353a7b8199c377925595e --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_71_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 71, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20331649992564008, + -0.03281231863937518, + 0.9966525156809851 + ], + "current_z": 0.9966525156809851, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14006600827241955, + "gripper_z": 1.0003417462059103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19855097166556554, + -0.037526714272001827, + 1.0003417462059103 + ], + "object_minus_gripper": [ + 0.004765528260074536, + 0.004714395632626649, + -0.003689230524925202 + ], + "object_to_gripper_xy": 0.006703415978327636, + "object_to_gripper_z": -0.003689230524925202, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20331649992564008, + -0.05693770220517688, + 0.9966525156809851 + ], + "finger_b": [ + 0.1915932945029194, + -0.03281231863937518, + 0.9966525156809851 + ], + "finger_midpoint": [ + 0.19745489721427972, + -0.04487501042227603, + 0.9966525156809851 + ], + "object_minus_finger_midpoint": [ + 0.005861602711360353, + 0.012062691782900849, + 0.0 + ], + "finger_gap": 0.02682289465326892, + "fingertip_max_gap": 0.09155687490960462, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013411447326634464, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9966525156809851, + "object_top_z": 1.0419458865482063, + "finger_top_clearance": 0.04529337086722118, + "fingertip_min_top_clearance": 0.013588011260166354, + "object_projection_between_fingers": 0.8089788469087181, + "object_to_finger_line_xy": 0.010544232123334791, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048278437454802314, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.5095470708949277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3393782736744365, + 0.352180099086613, + 0.7611064484101211 + ], + "gripper_position": [ + 0.3317471238298257, + 0.3163048885408369, + 1.016732751373655 + ], + "target_minus_gripper": [ + 0.0076311498446108295, + 0.03587521054577614, + -0.25562630296353395 + ], + "held_position": [ + 0.33667926992255126, + 0.3207418775704366, + 1.0129205713966007 + ], + "held_minus_target": [ + -0.002699003751885254, + -0.03143822151617642, + 0.25181412298647965 + ], + "held_minus_gripper": [ + 0.004932146092725576, + 0.004436989029599714, + -0.0038121799770542975 + ], + "xy_dist": 0.03667785680290864, + "held_xy_dist": 0.0315538649511097, + "held_gripper_dist": 0.007651513112204022, + "max_held_gripper_dist": 0.007656200891295808, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0129205713966007, + "required_height": 0.7911064484101211, + "gripper_z": 1.016732751373655, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20260041046514, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9145675254013519, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3638527567600582, + "max_source_tilt_deg": 89.97461691721064, + "source_upright_tilt_deg": 2.203656980102212, + "max_source_upright_tilt_deg": 89.63737829402021, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3638527567600582, + "source_upright_return_tilt_deg": 2.203656980102212, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3394, + 0.3522, + 0.7611 + ], + "controller_target_position": [ + 0.3394, + 0.3522, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0001, + 0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3383, + 0.3268, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.066, + 0.0637, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001112420032507088, + 5.487553934196672e-05, + 0.00014821990986546877 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.203658221139927, + "source_return_step_error_deg": 2.3638422468556612, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3666542980839123, + "source_return_best_wrist_position": -1.613054871559143, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613054871559143 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3394, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3394, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0001, + 0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3383, + 0.3268, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.066, + 0.0637, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.001112420032507088, + 5.487553934196672e-05, + 0.00014821990986546877 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.203658221139927, + "pour_controller_source_return_step_error_deg": 2.3638422468556612, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3666542980839123, + "pour_controller_source_return_best_wrist_position": -1.613054871559143, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613054871559143, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03667785680290864, + "valid_pour_held_xy_dist": 0.0315538649511097, + "valid_pour_held_gripper_dist": 0.007651513112204022, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0129205713966007, + "valid_pour_source_tilt_deg": 2.3638527567600582, + "valid_pour_source_upright_tilt_deg": 2.203656980102212, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33667926992255126, + 0.296854276029066, + 1.0129205713966007 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3256915318692292, + 0.3207418775704366, + 1.0129205713966007 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3311854008958902, + 0.3087980767997513, + 1.0129205713966007 + ], + "valid_pour_held_grasp_object_position": [ + 0.33667926992255126, + 0.3207418775704366, + 1.0129205713966007 + ], + "valid_pour_held_grasp_finger_gap": 0.026293495296892577, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02386999352931942, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 5.2312250712225825e-06, + -0.9992604744619773, + 0.03845132183239652 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005513093322939509, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03326528568048184, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33667926992255126, + 0.296854276029066, + 1.0129205713966007 + ], + "held_grasp_finger_b": [ + 0.3256915318692292, + 0.3207418775704366, + 1.0129205713966007 + ], + "held_grasp_midpoint": [ + 0.3311854008958902, + 0.3087980767997513, + 1.0129205713966007 + ], + "held_grasp_object_position": [ + 0.33667926992255126, + 0.3207418775704366, + 1.0129205713966007 + ], + "held_grasp_finger_gap": 0.026293495296892577, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02386999352931942, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 5.2312250712225825e-06, + -0.9992604744619773, + 0.03845132183239652 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005513093322939509, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03326528568048184, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18638540062177586, + -0.04157963703691037, + 0.7565864293207262 + ], + "target_position": [ + 0.17910217308846296, + -0.03723775190125023, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008479231677060935, + "xy_threshold": 0.08, + "gripper_dist": 0.22025612793118607, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864293207262, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567442241932407, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08581787070529985, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1896424578851648, + "release_required_pad_clearance": 0.05290893535264993, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8568308730322547, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 254, + "max_placed_release_frames": 254 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3483193314055003, + 0.3485725962763599, + 1.1647839942769913 + ], + "current_z": 1.1647839942769913, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.303677605471515, + "gripper_z": 1.1537512415431146, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34339572036057475, + 0.3437824364292802, + 1.1537512415431146 + ], + "object_minus_gripper": [ + 0.004923611044925558, + 0.0047901598470797, + 0.011032752733876716 + ], + "object_to_gripper_xy": 0.0068693214426380975, + "object_to_gripper_z": 0.011032752733876716, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3483193314055003, + 0.32458572705213834, + 1.1647839942769913 + ], + "finger_b": [ + 0.3374596674416749, + 0.3485725962763599, + 1.1647839942769913 + ], + "finger_midpoint": [ + 0.3428894994235876, + 0.3365791616642491, + 1.1647839942769913 + ], + "object_minus_finger_midpoint": [ + 0.005429831981912714, + 0.011993434612110776, + 0.0 + ], + "finger_gap": 0.026330632286124762, + "fingertip_max_gap": 0.09046770091688586, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013165316143062381, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1647839942769913, + "object_top_z": 1.2146442334421401, + "finger_top_clearance": 0.04986023916514881, + "fingertip_min_top_clearance": 0.014958071749544643, + "object_projection_between_fingers": 0.8298976954238021, + "object_to_finger_line_xy": 0.009893014967838072, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04773385045844293, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.21639192504383611, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3280340582896225, + -0.3636136156741909, + 0.851539556699426 + ], + "target_position": [ + 0.3217430885101796, + -0.36538232281463473, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006534877635772623, + "xy_threshold": 0.08, + "gripper_dist": 0.1826520354445848, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539556699426, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563968642760428, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.088033733845912, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1505953009423925, + "release_required_pad_clearance": 0.054016866922956, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.0452852761628604, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008630752563476562, + "max_z_decrease": 0.008630752563476562, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501542697476729, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008630752563476562, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02111427091884502, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008630752563476562, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008631113640079497, + "max_button_displacement": 0.12, + "button_start": [ + 0.17744301259517667, + -0.4216437935829162, + 0.7768088579177856 + ], + "button_final": [ + 0.17744301259517667, + -0.4216437935829162, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17745732733751596, + -0.4228523244971637, + 0.8031714536840577 + ], + "closest_button": [ + 0.1773707121610641, + -0.4216120839118957, + 0.7681781053543091 + ], + "closest_ee_minus_button": [ + 8.661517645186523e-05, + -0.0012402405852680043, + 0.03499334832974865 + ], + "button_min_z_position": [ + 0.1773707121610641, + -0.4216120839118957, + 0.7681781053543091 + ], + "min_active_finger_to_button": 0.1457347772744975, + "closest_active_finger": [ + 0.03663666546344757, + -0.40681514143943787, + 0.8100508451461792 + ], + "closest_active_finger_button": [ + 0.17744877934455866, + -0.42164999246597284, + 0.775547206401825 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408121138811111, + 0.014834851026534979, + 0.03450363874435425 + ], + "min_contact_pad_to_button": 0.02111427091884502, + "closest_contact_pad": [ + 0.1773707121610641, + -0.424022450617788, + 0.7891543435484542 + ], + "closest_contact_pad_button": [ + 0.1773707121610641, + -0.4216120839118957, + 0.7681781053543091 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.002410366705892286, + 0.02097623819414507 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 71, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "8a39002f13a31a0d6574166c5d0f8b8ff06a80fde1d0f7740f3b270114132ff9", + "visual_seed": 9069044331978106002, + "episode_index": 71, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_72_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_72_success.json new file mode 100644 index 0000000000000000000000000000000000000000..61e953b47b2fbee2488afa063a25d09dcecdea53 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_72_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 72, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2038602307784387, + -0.028982714746131268, + 0.9962519982578344 + ], + "current_z": 0.9962519982578344, + "required_z": 0.8565865670132105, + "initial_z": 0.7565865670132105, + "lift_margin": 0.13966543124462394, + "gripper_z": 0.9992430477582894, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19927755096723737, + -0.03358715462494617, + 0.9992430477582894 + ], + "object_minus_gripper": [ + 0.0045826798112013345, + 0.004604439878814905, + -0.002991049500455034 + ], + "object_to_gripper_xy": 0.006496292854360348, + "object_to_gripper_z": -0.002991049500455034, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2038602307784387, + -0.05297844177388828, + 0.9962519982578344 + ], + "finger_b": [ + 0.19238258914979117, + -0.028982714746131268, + 0.9962519982578344 + ], + "finger_midpoint": [ + 0.19812140996411493, + -0.040980578260009774, + 0.9962519982578344 + ], + "object_minus_finger_midpoint": [ + 0.005738820814323781, + 0.011997863513878507, + 0.0 + ], + "finger_gap": 0.026599458132569004, + "fingertip_max_gap": 0.09158415136333678, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013299729066284507, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9962519982578344, + "object_top_z": 1.0417458269213218, + "finger_top_clearance": 0.04549382866348739, + "fingertip_min_top_clearance": 0.0136481485990462, + "object_projection_between_fingers": 0.8138085466862349, + "object_to_finger_line_xy": 0.010354134060581584, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04829207568166839, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2769914110121663, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34266919512409777, + 0.3543852027224012, + 0.761106269596187 + ], + "gripper_position": [ + 0.33490216675708273, + 0.3185001832236149, + 1.0167383731527633 + ], + "target_minus_gripper": [ + 0.007767028367015039, + 0.03588501949878631, + -0.2556321035565763 + ], + "held_position": [ + 0.33955052438918165, + 0.3229381702072026, + 1.0135999528157926 + ], + "held_minus_target": [ + -0.003118670734916118, + -0.03144703251519859, + 0.25249368321960564 + ], + "held_minus_gripper": [ + 0.004648357632098921, + 0.004437986983587716, + -0.0031384203369706487 + ], + "xy_dist": 0.03671595503432111, + "held_xy_dist": 0.031601296827262954, + "held_gripper_dist": 0.007152107336575511, + "max_held_gripper_dist": 0.007156316779978642, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106269596187, + "held_z": 1.0135999528157926, + "required_height": 0.791106269596187, + "gripper_z": 1.0167383731527633, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20150758019794, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6774641611367356, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1574012877934936, + "max_source_tilt_deg": 89.97892727354753, + "source_upright_tilt_deg": 2.25888375933833, + "max_source_upright_tilt_deg": 89.79295375022886, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1574012877934936, + "source_upright_return_tilt_deg": 2.25888375933833, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.1920928955078125e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3427, + 0.3544, + 0.7611 + ], + "controller_target_position": [ + 0.3427, + 0.3544, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0008, + -0.0012, + 0.0012 + ], + "controller_last_pour_pose_position": [ + 0.3418, + 0.3278, + 1.0276 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0669, + 0.0645, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000836948920302207, + -0.0011773502872365702, + 0.0011512583135583885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.258880503651995, + "source_return_step_error_deg": 2.1574025885546972, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.259790217377792, + "source_return_best_wrist_position": -1.6127796173095703, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127796173095703 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3427, + 0.3544, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3427, + 0.3544, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0008, + -0.0012, + 0.0012 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3418, + 0.3278, + 1.0276 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0669, + 0.0645, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000836948920302207, + -0.0011773502872365702, + 0.0011512583135583885 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.258880503651995, + "pour_controller_source_return_step_error_deg": 2.1574025885546972, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.259790217377792, + "pour_controller_source_return_best_wrist_position": -1.6127796173095703, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127796173095703, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03671595503432111, + "valid_pour_held_xy_dist": 0.031601296827262954, + "valid_pour_held_gripper_dist": 0.007152107336575511, + "valid_pour_required_height": 0.791106269596187, + "valid_pour_held_z": 1.0135999528157926, + "valid_pour_source_tilt_deg": 2.1574012877934936, + "valid_pour_source_upright_tilt_deg": 2.25888375933833, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33955052438918165, + 0.2993991500649099, + 1.0135999528157926 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32836621047861336, + 0.3229381702072026, + 1.0135999528157926 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3339583674338975, + 0.31116866013605626, + 1.0135999528157926 + ], + "valid_pour_held_grasp_object_position": [ + 0.33955052438918165, + 0.3229381702072026, + 1.0135999528157926 + ], + "valid_pour_held_grasp_finger_gap": 0.026060973637018873, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02366944989339975, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.013297268138812851, + -0.9992229468431625, + 0.03710370819892717 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005764624385151409, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03351422084012838, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33955052438918165, + 0.2993991500649099, + 1.0135999528157926 + ], + "held_grasp_finger_b": [ + 0.32836621047861336, + 0.3229381702072026, + 1.0135999528157926 + ], + "held_grasp_midpoint": [ + 0.3339583674338975, + 0.31116866013605626, + 1.0135999528157926 + ], + "held_grasp_object_position": [ + 0.33955052438918165, + 0.3229381702072026, + 1.0135999528157926 + ], + "held_grasp_finger_gap": 0.026060973637018873, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02366944989339975, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.013297268138812851, + -0.9992229468431625, + 0.03710370819892717 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005764624385151409, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03351422084012838, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.19052454064413143, + -0.02940608997856157, + 0.7565859897838135 + ], + "target_position": [ + 0.18196599783532116, + -0.03201916413587268, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008948564776646876, + "xy_threshold": 0.08, + "gripper_dist": 0.22246740021554642, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565859897838135, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07557796855623791, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08571103741878759, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19325696772495904, + "release_required_pad_clearance": 0.0528555187093938, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.7506854649484506, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35161948730363446, + 0.3490490245470265, + 1.166238520966313 + ], + "current_z": 1.166238520966313, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.30513219176548134, + "gripper_z": 1.1549529731022126, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3469981717787154, + 0.34442220923311656, + 1.1549529731022126 + ], + "object_minus_gripper": [ + 0.004621315524919067, + 0.00462681531390996, + 0.01128554786410052 + ], + "object_to_gripper_xy": 0.006539417185796431, + "object_to_gripper_z": 0.01128554786410052, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35161948730363446, + 0.32545247758531326, + 1.166238520966313 + ], + "finger_b": [ + 0.34071830020711513, + 0.3490490245470265, + 1.166238520966313 + ], + "finger_midpoint": [ + 0.3461688937553748, + 0.33725075106616986, + 1.166238520966313 + ], + "object_minus_finger_midpoint": [ + 0.0054505935482596635, + 0.011798273480856658, + 0.0 + ], + "finger_gap": 0.025992939591928783, + "fingertip_max_gap": 0.09094298821285865, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.012996469795964416, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.166238520966313, + "object_top_z": 1.2163851781251565, + "finger_top_clearance": 0.050146657158843366, + "fingertip_min_top_clearance": 0.01504399714765301, + "object_projection_between_fingers": 0.8241117645463031, + "object_to_finger_line_xy": 0.009896163238932554, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04797149410642933, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.6096103987163783, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3327017278497961, + -0.36823491904196276, + 0.8515395525268982 + ], + "target_position": [ + 0.3255778000433246, + -0.3698451806227736, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007303649070872294, + "xy_threshold": 0.08, + "gripper_dist": 0.18545941977941768, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395525268982, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752228290909325, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08661664880097512, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15434338652406995, + "release_required_pad_clearance": 0.053308324400487564, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.634662574963592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 153, + "max_placed_release_frames": 153 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008770227432250977, + "max_z_decrease": 0.008770227432250977, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.035108027159522666, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008770227432250977, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02096767989651993, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008770227432250977, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008770498308625077, + "max_button_displacement": 0.12, + "button_start": [ + 0.18127772212028503, + -0.4261066317558289, + 0.7768088579177856 + ], + "button_final": [ + 0.18127772212028503, + -0.4261066317558289, + 0.7768089175224304 + ], + "closest_ee": [ + 0.18288226605862778, + -0.4240386710957196, + 0.803047684705601 + ], + "closest_button": [ + 0.18121492862701416, + -0.426078200340271, + 0.7680386304855347 + ], + "closest_ee_minus_button": [ + 0.0016673374316136247, + 0.002039529244551419, + 0.03500905422006628 + ], + "button_min_z_position": [ + 0.18121492862701416, + -0.426078200340271, + 0.7680386304855347 + ], + "min_active_finger_to_button": 0.14359164627355184, + "closest_active_finger": [ + 0.056767240166664124, + -0.4888112246990204, + 0.8098501563072205 + ], + "closest_active_finger_button": [ + 0.18128614127635956, + -0.42611292004585266, + 0.77546226978302 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12451890110969543, + -0.06269830465316772, + 0.03438788652420044 + ], + "min_contact_pad_to_button": 0.02096767989651993, + "closest_contact_pad": [ + 0.18121492862701416, + -0.426078200340271, + 0.7890063103820546 + ], + "closest_contact_pad_button": [ + 0.18121492862701416, + -0.426078200340271, + 0.7680386304855347 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02096767989651993 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 72, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1821bca54478b5d51c6331c2a22589cde4e165c25a3e0f68942451d17e96ca70", + "visual_seed": 285964409151385166, + "episode_index": 72, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_73_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_73_success.json new file mode 100644 index 0000000000000000000000000000000000000000..801d80bc5c6b52733682951ec768fcd7254d413b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_73_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 73, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19947359079520824, + -0.025399369298731534, + 0.9954445260313697 + ], + "current_z": 0.9954445260313697, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1388580782274489, + "gripper_z": 0.9989126308361478, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19477926585056166, + -0.030084707738862196, + 0.9989126308361478 + ], + "object_minus_gripper": [ + 0.004694324944646583, + 0.004685338440130662, + -0.003468104804778105 + ], + "object_to_gripper_xy": 0.0066324266286553945, + "object_to_gripper_z": -0.003468104804778105, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19947359079520824, + -0.049452874473921736, + 0.9954445260313697 + ], + "finger_b": [ + 0.18775755630018487, + -0.025399369298731534, + 0.9954445260313697 + ], + "finger_midpoint": [ + 0.19361557354769654, + -0.03742612188632664, + 0.9954445260313697 + ], + "object_minus_finger_midpoint": [ + 0.005858017247511699, + 0.012026752587595103, + 0.0 + ], + "finger_gap": 0.026755122416118365, + "fingertip_max_gap": 0.09133592102267452, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01337756120805919, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954445260313697, + "object_top_z": 1.040679054420205, + "finger_top_clearance": 0.04523452838883524, + "fingertip_min_top_clearance": 0.01357035851665057, + "object_projection_between_fingers": 0.8082446902179925, + "object_to_finger_line_xy": 0.01053299969911469, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04816796051133726, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2910022568655142, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3397079171623668, + 0.35414758880600405, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33418850874107986, + 0.32014020298876533, + 1.0179668717584607 + ], + "target_minus_gripper": [ + 0.005519408421286953, + 0.03400738581723872, + -0.25686048295298425 + ], + "held_position": [ + 0.33903642415094637, + 0.32457162157629804, + 1.014377642013848 + ], + "held_minus_target": [ + -0.0006714930114204432, + -0.029575967229706013, + 0.2532712532083715 + ], + "held_minus_gripper": [ + 0.00484791540986651, + 0.0044314185875327095, + -0.003589229744612732 + ], + "xy_dist": 0.0344523752366002, + "held_xy_dist": 0.029583589039145174, + "held_gripper_dist": 0.007484806255259006, + "max_held_gripper_dist": 0.007489145109048407, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.014377642013848, + "required_height": 0.7911063888054765, + "gripper_z": 1.0179668717584607, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19893942907001, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.5853337944435703, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.250846796362461, + "max_source_tilt_deg": 89.68212584770922, + "source_upright_tilt_deg": 2.2890260888642993, + "max_source_upright_tilt_deg": 89.88710639133947, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.250846796362461, + "source_upright_return_tilt_deg": 2.2890260888642993, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3397, + 0.3541, + 0.7611 + ], + "controller_target_position": [ + 0.3397, + 0.3541, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0017, + 0.0015 + ], + "controller_last_pour_pose_position": [ + 0.341, + 0.3304, + 1.0281 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0661, + 0.0639, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013274940250298317, + 0.0017134840159867964, + 0.0014556370271260476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.288987505103113, + "source_return_step_error_deg": 2.250815539151907, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2945432999026796, + "source_return_best_wrist_position": -1.6125977039337158, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125977039337158 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3397, + 0.3541, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3397, + 0.3541, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0017, + 0.0015 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.341, + 0.3304, + 1.0281 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0661, + 0.0639, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0013274940250298317, + 0.0017134840159867964, + 0.0014556370271260476 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.288987505103113, + "pour_controller_source_return_step_error_deg": 2.250815539151907, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2945432999026796, + "pour_controller_source_return_best_wrist_position": -1.6125977039337158, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125977039337158, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0344523752366002, + "valid_pour_held_xy_dist": 0.029583589039145174, + "valid_pour_held_gripper_dist": 0.007484806255259006, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.014377642013848, + "valid_pour_source_tilt_deg": 2.250846796362461, + "valid_pour_source_upright_tilt_deg": 2.2890260888642993, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33903642415094637, + 0.30076710578183485, + 1.014377642013848 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3280115172934619, + 0.32457162157629804, + 1.014377642013848 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33352397072220413, + 0.31266936367906645, + 1.014377642013848 + ], + "valid_pour_held_grasp_object_position": [ + 0.33903642415094637, + 0.32457162157629804, + 1.014377642013848 + ], + "valid_pour_held_grasp_finger_gap": 0.026233633820442328, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023766724773511765, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0017049374247005925, + -0.9992020738917665, + 0.039903743167413186 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005512666606409814, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03329806580274973, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33903642415094637, + 0.30076710578183485, + 1.014377642013848 + ], + "held_grasp_finger_b": [ + 0.3280115172934619, + 0.32457162157629804, + 1.014377642013848 + ], + "held_grasp_midpoint": [ + 0.33352397072220413, + 0.31266936367906645, + 1.014377642013848 + ], + "held_grasp_object_position": [ + 0.33903642415094637, + 0.32457162157629804, + 1.014377642013848 + ], + "held_grasp_finger_gap": 0.026233633820442328, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023766724773511765, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0017049374247005925, + -0.9992020738917665, + 0.039903743167413186 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005512666606409814, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03329806580274973, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1766324778843643, + -0.03046753782160265, + 0.7565861790703439 + ], + "target_position": [ + 0.17520145130067744, + -0.030721113712816415, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0014533195848894745, + "xy_threshold": 0.08, + "gripper_dist": 0.21607084575930582, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565861790703439, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07536058452401134, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08546996024272181, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18732571159412226, + "release_required_pad_clearance": 0.05273498012136091, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5203916497166772, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 265, + "max_placed_release_frames": 265 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3486677050115692, + 0.35145458141829083, + 1.1651273980234498 + ], + "current_z": 1.1651273980234498, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.30402106882261815, + "gripper_z": 1.1540908689124776, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3438606167318444, + 0.3466692061511712, + 1.1540908689124776 + ], + "object_minus_gripper": [ + 0.004807088279724758, + 0.00478537526711964, + 0.011036529110972193 + ], + "object_to_gripper_xy": 0.00678291339884474, + "object_to_gripper_z": 0.011036529110972193, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3486677050115692, + 0.32763966142817263, + 1.1651273980234498 + ], + "finger_b": [ + 0.33769042351266026, + 0.35145458141829083, + 1.1651273980234498 + ], + "finger_midpoint": [ + 0.34317906426211475, + 0.33954712142323173, + 1.1651273980234498 + ], + "object_minus_finger_midpoint": [ + 0.005488640749454432, + 0.0119074599950591, + 0.0 + ], + "finger_gap": 0.026223102853057255, + "fingertip_max_gap": 0.09052762443854265, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013111551426528615, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651273980234498, + "object_top_z": 1.2150108205233754, + "finger_top_clearance": 0.04988342249992561, + "fingertip_min_top_clearance": 0.014965026749977649, + "object_projection_between_fingers": 0.824764760743541, + "object_to_finger_line_xy": 0.009969189461309029, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047763812219271326, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.23734549602853997, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32923841637451845, + -0.3684954232268978, + 0.85153966763083 + ], + "target_position": [ + 0.3219218850385772, + -0.3705540732752346, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007600636210958068, + "xy_threshold": 0.08, + "gripper_dist": 0.1843289799487135, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153966763083, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07567663338307888, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08787969366160663, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15230397517971414, + "release_required_pad_clearance": 0.053939846830803315, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.88992384797986, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008408784866333008, + "max_z_decrease": 0.008408784866333008, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03503706779463993, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008408784866333008, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021103489294285266, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008408784866333008, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008409545377764603, + "max_button_displacement": 0.12, + "button_start": [ + 0.17762181162834167, + -0.4268155395984649, + 0.7768088579177856 + ], + "button_final": [ + 0.17762181162834167, + -0.4268155395984649, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1789191300441511, + -0.4255820119142585, + 0.8037575406790559 + ], + "closest_button": [ + 0.1775209605693817, + -0.4267736673355102, + 0.7687686681747437 + ], + "closest_ee_minus_button": [ + 0.0013981694747693951, + 0.0011916554212517139, + 0.03498887250431226 + ], + "button_min_z_position": [ + 0.1775149554014206, + -0.426778495311737, + 0.7684000730514526 + ], + "min_active_finger_to_button": 0.14430019316573142, + "closest_active_finger": [ + 0.05115559697151184, + -0.4870302677154541, + 0.8089807033538818 + ], + "closest_active_finger_button": [ + 0.1776326298713684, + -0.42682272195816034, + 0.7743229866027832 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12647703289985657, + -0.06020754575729376, + 0.03465771675109863 + ], + "min_contact_pad_to_button": 0.021103489294285266, + "closest_contact_pad": [ + 0.1775149554014206, + -0.4268995716805443, + 0.7895032150191059 + ], + "closest_contact_pad_button": [ + 0.1775149554014206, + -0.426778495311737, + 0.7684000730514526 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.00012107636880731576, + 0.021103141967653283 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 73, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "289569afcfc5cb7e6a76e9f2d68bc7923d39bc762e15581c92158525b526a41d", + "visual_seed": 5791072363195906065, + "episode_index": 73, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_74_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_74_success.json new file mode 100644 index 0000000000000000000000000000000000000000..f6540a304376f9b7cb8c9586db563d473a221445 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_74_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 74, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20643763169249593, + -0.03732071058393596, + 0.9949462934627269 + ], + "current_z": 0.9949462934627269, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.1383598456588061, + "gripper_z": 0.9981220353411513, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.2016379939072668, + -0.04195579325118447, + 0.9981220353411513 + ], + "object_minus_gripper": [ + 0.004799637785229127, + 0.004635082667248505, + -0.0031757418784243985 + ], + "object_to_gripper_xy": 0.006672369459317033, + "object_to_gripper_z": -0.0031757418784243985, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20643763169249593, + -0.06159539180684302, + 0.9949462934627269 + ], + "finger_b": [ + 0.19510176090340706, + -0.03732071058393596, + 0.9949462934627269 + ], + "finger_midpoint": [ + 0.2007696962979515, + -0.04945805119538949, + 0.9949462934627269 + ], + "object_minus_finger_midpoint": [ + 0.005667935394544438, + 0.01213734061145353, + 0.0 + ], + "finger_gap": 0.026791082751928395, + "fingertip_max_gap": 0.09210920150305216, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013395541375964198, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949462934627269, + "object_top_z": 1.0404946482812192, + "finger_top_clearance": 0.04554835481849229, + "fingertip_min_top_clearance": 0.013664506445547685, + "object_projection_between_fingers": 0.8209685857504238, + "object_to_finger_line_xy": 0.010271128357788737, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855460075152608, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.6255313350168794, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3409104408707103, + 0.3503901418016858, + 0.7611063888054765 + ], + "gripper_position": [ + 0.33424894389947674, + 0.3157316558263069, + 1.0174335649195216 + ], + "target_minus_gripper": [ + 0.0066614969712335825, + 0.034658485975378905, + -0.2563271761140451 + ], + "held_position": [ + 0.33912407413288204, + 0.3201747046527625, + 1.0141011247432512 + ], + "held_minus_target": [ + -0.0017863667378282821, + -0.03021543714892333, + 0.25299473593777466 + ], + "held_minus_gripper": [ + 0.0048751302334053, + 0.004443048826455576, + -0.0033324401762704348 + ], + "xy_dist": 0.03529286318794907, + "held_xy_dist": 0.03026819697673707, + "held_gripper_dist": 0.0073900429765564974, + "max_held_gripper_dist": 0.007396505611559076, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0141011247432512, + "required_height": 0.7911063888054766, + "gripper_z": 1.0174335649195216, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2055237314299, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7392967549592946, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3178236515230477, + "max_source_tilt_deg": 89.70825885373281, + "source_upright_tilt_deg": 2.3972313888501824, + "max_source_upright_tilt_deg": 89.84709260900424, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3178236515230477, + "source_upright_return_tilt_deg": 2.3972313888501824, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3409, + 0.3504, + 0.7611 + ], + "controller_target_position": [ + 0.3409, + 0.3504, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0005, + 0.0014, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3404, + 0.3264, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0648, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004624756320462087, + 0.0013771986232067753, + 0.0009260115050838996 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.397216678604012, + "source_return_step_error_deg": 2.317820325174635, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.400750027369352, + "source_return_best_wrist_position": -1.6130311489105225, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6130311489105225 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3409, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3409, + 0.3504, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0005, + 0.0014, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3404, + 0.3264, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0648, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0004624756320462087, + 0.0013771986232067753, + 0.0009260115050838996 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.397216678604012, + "pour_controller_source_return_step_error_deg": 2.317820325174635, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.400750027369352, + "pour_controller_source_return_best_wrist_position": -1.6130311489105225, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6130311489105225, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03529286318794907, + "valid_pour_held_xy_dist": 0.03026819697673707, + "valid_pour_held_gripper_dist": 0.0073900429765564974, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0141011247432512, + "valid_pour_source_tilt_deg": 2.3178236515230477, + "valid_pour_source_upright_tilt_deg": 2.3972313888501824, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33912407413288204, + 0.29633222266224063, + 1.0141011247432512 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3281249002394211, + 0.3201747046527625, + 1.0141011247432512 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33362448718615156, + 0.30825346365750156, + 1.0141011247432512 + ], + "valid_pour_held_grasp_object_position": [ + 0.33912407413288204, + 0.3201747046527625, + 1.0141011247432512 + ], + "valid_pour_held_grasp_finger_gap": 0.026257299438574255, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024008365888868354, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01697848836691743, + -0.999124862602072, + 0.03822616725706707 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005719240036773981, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033382791367372426, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33912407413288204, + 0.29633222266224063, + 1.0141011247432512 + ], + "held_grasp_finger_b": [ + 0.3281249002394211, + 0.3201747046527625, + 1.0141011247432512 + ], + "held_grasp_midpoint": [ + 0.33362448718615156, + 0.30825346365750156, + 1.0141011247432512 + ], + "held_grasp_object_position": [ + 0.33912407413288204, + 0.3201747046527625, + 1.0141011247432512 + ], + "held_grasp_finger_gap": 0.026257299438574255, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024008365888868354, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01697848836691743, + -0.999124862602072, + 0.03822616725706707 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005719240036773981, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033382791367372426, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18145502598479415, + -0.04921187437104367, + 0.7565868891178782 + ], + "target_position": [ + 0.18488495377218991, + -0.03805524716272508, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01167196364336971, + "xy_threshold": 0.08, + "gripper_dist": 0.2149923502731753, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565868891178782, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07539330217299255, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0916601512214192, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18440143290533692, + "release_required_pad_clearance": 0.0558300756107096, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.861705140495865, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 253, + "max_placed_release_frames": 253 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3499117951229148, + 0.34525127856652993, + 1.1629676642510343 + ], + "current_z": 1.1629676642510343, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.3018613350502025, + "gripper_z": 1.151814336206103, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3449416264749987, + 0.3405635463443327, + 1.151814336206103 + ], + "object_minus_gripper": [ + 0.004970168647916107, + 0.004687732222197205, + 0.011153328044931188 + ], + "object_to_gripper_xy": 0.006832086780461309, + "object_to_gripper_z": 0.011153328044931188, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3499117951229148, + 0.3211646690890225, + 1.1629676642510343 + ], + "finger_b": [ + 0.33927061658504487, + 0.34525127856652993, + 1.1629676642510343 + ], + "finger_midpoint": [ + 0.34459120585397984, + 0.3332079738277762, + 1.1629676642510343 + ], + "object_minus_finger_midpoint": [ + 0.005320589268934972, + 0.012043304738753702, + 0.0 + ], + "finger_gap": 0.026332478743877747, + "fingertip_max_gap": 0.09039806578910067, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013166239371938874, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1629676642510343, + "object_top_z": 1.2129727230592, + "finger_top_clearance": 0.05000505880816575, + "fingertip_min_top_clearance": 0.015001517642449724, + "object_projection_between_fingers": 0.8366963186501526, + "object_to_finger_line_xy": 0.009733603673057116, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04769903289455034, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.260942972128811, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3360468220045798, + -0.36930689423277696, + 0.8515395350879467 + ], + "target_position": [ + 0.3298281080451885, + -0.37023693331937246, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006287875317730465, + "xy_threshold": 0.08, + "gripper_dist": 0.1811574134865647, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395350879467, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563989825478265, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08549451332366635, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1489462425618528, + "release_required_pad_clearance": 0.05274725666183318, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.5453620138110005, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008474469184875488, + "max_z_decrease": 0.008474469184875488, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034981648931427974, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008474469184875488, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.0213030315457978, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008474469184875488, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008475205562070728, + "max_button_displacement": 0.12, + "button_start": [ + 0.18552803993225098, + -0.42649838328361506, + 0.7768088579177856 + ], + "button_final": [ + 0.18552803993225098, + -0.42649838328361506, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18505748365576827, + -0.4264046486888261, + 0.8044760008077055 + ], + "closest_button": [ + 0.18548348546028137, + -0.42648446559906006, + 0.7694970369338989 + ], + "closest_ee_minus_button": [ + -0.0004260018045131042, + 7.98169102339541e-05, + 0.03497896387380661 + ], + "button_min_z_position": [ + 0.18542857468128204, + -0.4264475107192993, + 0.7683343887329102 + ], + "min_active_finger_to_button": 0.146385142059383, + "closest_active_finger": [ + 0.044570572674274445, + -0.40843620896339417, + 0.8081164360046387 + ], + "closest_active_finger_button": [ + 0.18554967641830444, + -0.4265020787715912, + 0.7730860710144043 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14097910374403, + 0.01806586980819702, + 0.035030364990234375 + ], + "min_contact_pad_to_button": 0.0213030315457978, + "closest_contact_pad": [ + 0.18542857468128204, + -0.4277404872432174, + 0.7895981458033305 + ], + "closest_contact_pad_button": [ + 0.18542857468128204, + -0.4264475107192993, + 0.7683343887329102 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012929765239180768, + 0.021263757070420386 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 74, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "c9679bbedcee54b471edaf4a57f9f8a53370313e9e8f5386b2746767d53e1080", + "visual_seed": 2493830292343102698, + "episode_index": 74, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_75_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_75_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1e404e86c6838395b16fc4d128cdd30932bba928 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_75_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 75, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20175776198377782, + -0.03047882182979294, + 0.9949388173854852 + ], + "current_z": 0.9949388173854852, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13835225037227483, + "gripper_z": 0.9978880017550883, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19706001805140042, + -0.0350116937872233, + 0.9978880017550883 + ], + "object_minus_gripper": [ + 0.004697743932377402, + 0.004532871957430358, + -0.0029491843696031195 + ], + "object_to_gripper_xy": 0.006528072168461928, + "object_to_gripper_z": -0.0029491843696031195, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20175776198377782, + -0.054762235366502085, + 0.9949388173854852 + ], + "finger_b": [ + 0.19070659474891147, + -0.03047882182979294, + 0.9949388173854852 + ], + "finger_midpoint": [ + 0.19623217836634466, + -0.04262052859814751, + 0.9949388173854852 + ], + "object_minus_finger_midpoint": [ + 0.005525583617433161, + 0.01214170676835457, + 0.0 + ], + "finger_gap": 0.026679813909542407, + "fingertip_max_gap": 0.09206831924271297, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013339906954771195, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949388173854852, + "object_top_z": 1.0405615202757974, + "finger_top_clearance": 0.04562270289031223, + "fingertip_min_top_clearance": 0.013686810867093651, + "object_projection_between_fingers": 0.8284263027726033, + "object_to_finger_line_xy": 0.010058543321833575, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04853415962135649, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4449283102080464, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34271115679401953, + 0.3521941955851026, + 0.7611063888054764 + ], + "gripper_position": [ + 0.3343453825441929, + 0.3161080488171459, + 1.0161045311713437 + ], + "target_minus_gripper": [ + 0.008365774249826652, + 0.03608614676795674, + -0.25499814236586726 + ], + "held_position": [ + 0.33902415020343313, + 0.32054832473548334, + 1.012988114706727 + ], + "held_minus_target": [ + -0.003687006590586406, + -0.031645870849619284, + 0.2518817259012506 + ], + "held_minus_gripper": [ + 0.004678767659240246, + 0.004440275918337455, + -0.003116416464616689 + ], + "xy_dist": 0.03704316627068449, + "held_xy_dist": 0.03185993031112609, + "held_gripper_dist": 0.007163725889581062, + "max_held_gripper_dist": 0.007169861577231246, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.012988114706727, + "required_height": 0.7911063888054765, + "gripper_z": 1.0161045311713437, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19930142909602, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8804328479578145, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.167963376202727, + "max_source_tilt_deg": 89.65960956624002, + "source_upright_tilt_deg": 2.879158847298645, + "max_source_upright_tilt_deg": 89.60955241178561, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.167963376202727, + "source_upright_return_tilt_deg": 2.879158847298645, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.2644054553268208e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3427, + 0.3522, + 0.7611 + ], + "controller_target_position": [ + 0.3427, + 0.3522, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0013, + 0.0005, + -0.0016 + ], + "controller_last_pour_pose_position": [ + 0.3414, + 0.3273, + 1.0249 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0658, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013236030892068177, + 0.00048139554261119374, + -0.0016255951173755588 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.8791824402447115, + "source_return_step_error_deg": 2.167989407391904, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.8845669353049828, + "source_return_best_wrist_position": -1.612670660018921, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612670660018921 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3427, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3427, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0013, + 0.0005, + -0.0016 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3414, + 0.3273, + 1.0249 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0658, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0013236030892068177, + 0.00048139554261119374, + -0.0016255951173755588 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.8791824402447115, + "pour_controller_source_return_step_error_deg": 2.167989407391904, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.8845669353049828, + "pour_controller_source_return_best_wrist_position": -1.612670660018921, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612670660018921, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03704316627068449, + "valid_pour_held_xy_dist": 0.03185993031112609, + "valid_pour_held_gripper_dist": 0.007163725889581062, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.012988114706727, + "valid_pour_source_tilt_deg": 2.167963376202727, + "valid_pour_source_upright_tilt_deg": 2.879158847298645, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33902415020343313, + 0.2969743113513569, + 1.012988114706727 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32784637776716424, + 0.32054832473548334, + 1.012988114706727 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33343526398529866, + 0.3087613180434201, + 1.012988114706727 + ], + "valid_pour_held_grasp_object_position": [ + 0.33902415020343313, + 0.32054832473548334, + 1.012988114706727 + ], + "valid_pour_held_grasp_finger_gap": 0.026089781594946054, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02391099066333334, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.032809279130119676, + -0.9987377042583823, + 0.03803352857227448 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005989140332145895, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03361146429005861, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33902415020343313, + 0.2969743113513569, + 1.012988114706727 + ], + "held_grasp_finger_b": [ + 0.32784637776716424, + 0.32054832473548334, + 1.012988114706727 + ], + "held_grasp_midpoint": [ + 0.33343526398529866, + 0.3087613180434201, + 1.012988114706727 + ], + "held_grasp_object_position": [ + 0.33902415020343313, + 0.32054832473548334, + 1.012988114706727 + ], + "held_grasp_finger_gap": 0.026089781594946054, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02391099066333334, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.032809279130119676, + -0.9987377042583823, + 0.03803352857227448 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005989140332145895, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03361146429005861, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18384489066204882, + -0.0311237816124212, + 0.7565863224687708 + ], + "target_position": [ + 0.18116358653943523, + -0.030240334506894482, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002823095922247086, + "xy_threshold": 0.08, + "gripper_dist": 0.21742172384059177, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863224687708, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07532748794807302, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08562187635768424, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18838277284596405, + "release_required_pad_clearance": 0.05281093817884212, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6679296499215975, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 262, + "max_placed_release_frames": 262 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35180090892254173, + 0.34715898533727485, + 1.164044797808939 + ], + "current_z": 1.164044797808939, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3029384090034626, + "gripper_z": 1.1527812623717582, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34714141874810056, + 0.34247180713083336, + 1.1527812623717582 + ], + "object_minus_gripper": [ + 0.004659490174441172, + 0.004687178206441489, + 0.011263535437180838 + ], + "object_to_gripper_xy": 0.006609121592515444, + "object_to_gripper_z": 0.011263535437180838, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35180090892254173, + 0.32365088462734926, + 1.164044797808939 + ], + "finger_b": [ + 0.3406507729788159, + 0.34715898533727485, + 1.164044797808939 + ], + "finger_midpoint": [ + 0.3462258409506788, + 0.33540493498231205, + 1.164044797808939 + ], + "object_minus_finger_midpoint": [ + 0.005575067971862913, + 0.011754050354962797, + 0.0 + ], + "finger_gap": 0.026018384472360517, + "fingertip_max_gap": 0.09093390360457734, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013009192236180259, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164044797808939, + "object_top_z": 1.2142325510145358, + "finger_top_clearance": 0.05018775320559676, + "fingertip_min_top_clearance": 0.015056325961678996, + "object_projection_between_fingers": 0.8163463048461803, + "object_to_finger_line_xy": 0.010074357959192974, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047966951802288674, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5919512542137478, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 386, + "max_stable_success_frames": 386, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32310695795280603, + -0.371872643553789, + 0.8515395589132113 + ], + "target_position": [ + 0.32228423233080966, + -0.3696255432183267, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.0023929766749227225, + "xy_threshold": 0.08, + "gripper_dist": 0.17999021685743796, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395589132113, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07560432785154536, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08694857317163794, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14723612247390405, + "release_required_pad_clearance": 0.05347428658581897, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.9615704912974592, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 147, + "max_placed_release_frames": 147 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00865393877029419, + "max_z_decrease": 0.00865393877029419, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500726958495465, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00865393877029419, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021049690561613554, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00865393877029419, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008654359860910392, + "max_button_displacement": 0.12, + "button_start": [ + 0.17798416316509247, + -0.4258869886398315, + 0.7768088579177856 + ], + "button_final": [ + 0.17798416316509247, + -0.4258869886398315, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17643165425809343, + -0.4259477198794701, + 0.8045888168607944 + ], + "closest_button": [ + 0.17789766192436215, + -0.42588546872138977, + 0.7696123123168945 + ], + "closest_ee_minus_button": [ + -0.001466007666268726, + -6.225115808033976e-05, + 0.03497650454389989 + ], + "button_min_z_position": [ + 0.17789912223815918, + -0.4258794784545898, + 0.7681549191474915 + ], + "min_active_finger_to_button": 0.1473984234535588, + "closest_active_finger": [ + 0.04864475131034851, + -0.4875682592391968, + 0.8113422393798828 + ], + "closest_active_finger_button": [ + 0.1779881566762924, + -0.4258926212787628, + 0.7768068313598633 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12934340536594388, + -0.06167563796043396, + 0.03453540802001953 + ], + "min_contact_pad_to_button": 0.021049690561613554, + "closest_contact_pad": [ + 0.17789912223815918, + -0.42721681115817683, + 0.7891620849244257 + ], + "closest_contact_pad_button": [ + 0.17789912223815918, + -0.4258794784545898, + 0.7681549191474915 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0013373327035870464, + 0.02100716577693429 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 75, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "01e38f1a78575363149eb9fd761e2733f9aca7898e6a1ad02c1117aa0a455cb3", + "visual_seed": 1239643387882463360, + "episode_index": 75, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_76_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_76_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c6b493fbd27d1854a397aee38502d33a9f22c7d9 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_76_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 76, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20255074772883486, + -0.034102791827487766, + 0.9980611927450895 + ], + "current_z": 0.9980611927450895, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14147474494116874, + "gripper_z": 1.0010505639911011, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1980124573116727, + -0.038638635184910536, + 1.0010505639911011 + ], + "object_minus_gripper": [ + 0.004538290417162166, + 0.00453584335742277, + -0.0029893712460116184 + ], + "object_to_gripper_xy": 0.006416381758715905, + "object_to_gripper_z": -0.0029893712460116184, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20255074772883486, + -0.05815471094613603, + 0.9980611927450895 + ], + "finger_b": [ + 0.19120810786521708, + -0.034102791827487766, + 0.9980611927450895 + ], + "finger_midpoint": [ + 0.19687942779702597, + -0.0461287513868119, + 0.9980611927450895 + ], + "object_minus_finger_midpoint": [ + 0.005671319931808888, + 0.012025959559324131, + 0.0 + ], + "finger_gap": 0.026592297613514497, + "fingertip_max_gap": 0.09121369744713834, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013296148806757249, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9980611927450895, + "object_top_z": 1.0433386136821245, + "finger_top_clearance": 0.04527742093703502, + "fingertip_min_top_clearance": 0.013583226281110505, + "object_projection_between_fingers": 0.8180648718318111, + "object_to_finger_line_xy": 0.010259070523227151, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04810684872356917, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.236009536454351, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33789080996174414, + 0.34822863896355105, + 0.7611065080147659 + ], + "gripper_position": [ + 0.33127569277126967, + 0.3129917021692197, + 1.0172693490530327 + ], + "target_minus_gripper": [ + 0.006615117190474473, + 0.035236936794331375, + -0.2561628410382668 + ], + "held_position": [ + 0.3358733858123842, + 0.3173837775926317, + 1.0141579049279548 + ], + "held_minus_target": [ + -0.0020174241493599587, + -0.030844861370919352, + 0.2530513969131889 + ], + "held_minus_gripper": [ + 0.0045976930411145145, + 0.004392075423412023, + -0.0031114441250779112 + ], + "xy_dist": 0.0358524962881445, + "held_xy_dist": 0.030910766298971847, + "held_gripper_dist": 0.007078855300734334, + "max_held_gripper_dist": 0.007083634631821503, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611065080147659, + "held_z": 1.0141579049279548, + "required_height": 0.7911065080147659, + "gripper_z": 1.0172693490530327, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19564727789007, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9403985273667937, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1375671222775057, + "max_source_tilt_deg": 89.6477432934989, + "source_upright_tilt_deg": 2.365259594462647, + "max_source_upright_tilt_deg": 89.95936176255535, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1375671222775057, + "source_upright_return_tilt_deg": 2.365259594462647, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 8.940696716308594e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3379, + 0.3482, + 0.7611 + ], + "controller_target_position": [ + 0.3379, + 0.3482, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0009, + -0.0002, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3388, + 0.3226, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0647, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008832757490885783, + -0.00017625265800007696, + 0.0008942781079178423 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3652615843304114, + "source_return_step_error_deg": 2.137578260018023, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3687853850207996, + "source_return_best_wrist_position": -1.6124356985092163, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124356985092163 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3379, + 0.3482, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3379, + 0.3482, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0009, + -0.0002, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3388, + 0.3226, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0647, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0008832757490885783, + -0.00017625265800007696, + 0.0008942781079178423 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3652615843304114, + "pour_controller_source_return_step_error_deg": 2.137578260018023, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3687853850207996, + "pour_controller_source_return_best_wrist_position": -1.6124356985092163, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124356985092163, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.0358524962881445, + "valid_pour_held_xy_dist": 0.030910766298971847, + "valid_pour_held_gripper_dist": 0.007078855300734334, + "valid_pour_required_height": 0.7911065080147659, + "valid_pour_held_z": 1.0141579049279548, + "valid_pour_source_tilt_deg": 2.1375671222775057, + "valid_pour_source_upright_tilt_deg": 2.365259594462647, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3358733858123842, + 0.2938518369650428, + 1.0141579049279548 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32478334391185754, + 0.3173837775926317, + 1.0141579049279548 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33032836486212086, + 0.30561780727883725, + 1.0141579049279548 + ], + "valid_pour_held_grasp_object_position": [ + 0.3358733858123842, + 0.3173837775926317, + 1.0141579049279548 + ], + "valid_pour_held_grasp_finger_gap": 0.026014251076204475, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023691772295703885, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.01621993609477198, + -0.9991480471960568, + 0.03794856331125018 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005752356906278971, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03353421858887372, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3358733858123842, + 0.2938518369650428, + 1.0141579049279548 + ], + "held_grasp_finger_b": [ + 0.32478334391185754, + 0.3173837775926317, + 1.0141579049279548 + ], + "held_grasp_midpoint": [ + 0.33032836486212086, + 0.30561780727883725, + 1.0141579049279548 + ], + "held_grasp_object_position": [ + 0.3358733858123842, + 0.3173837775926317, + 1.0141579049279548 + ], + "held_grasp_finger_gap": 0.026014251076204475, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023691772295703885, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.01621993609477198, + -0.9991480471960568, + 0.03794856331125018 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005752356906278971, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03353421858887372, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18086565992785572, + -0.03579390820143005, + 0.7565869652134021 + ], + "target_position": [ + 0.17893663414881447, + -0.035581371732642496, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0019406988964727069, + "xy_threshold": 0.08, + "gripper_dist": 0.21688811227469929, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869652134021, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524409426977725, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08678446584418785, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18835212326842102, + "release_required_pad_clearance": 0.05339223292209393, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.7996679642566866, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 298, + "max_placed_release_frames": 298 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3467652986056062, + 0.34391280555144055, + 1.1626473765242875 + ], + "current_z": 1.1626473765242875, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.3015409877188113, + "gripper_z": 1.1516127928238136, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3418086098108753, + 0.33915849352970984, + 1.1516127928238136 + ], + "object_minus_gripper": [ + 0.004956688794730879, + 0.004754312021730711, + 0.011034583700473943 + ], + "object_to_gripper_xy": 0.006868205486718042, + "object_to_gripper_z": 0.011034583700473943, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3467652986056062, + 0.31986447526390666, + 1.1626473765242875 + ], + "finger_b": [ + 0.33600433015751596, + 0.34391280555144055, + 1.1626473765242875 + ], + "finger_midpoint": [ + 0.3413848143815611, + 0.33188864040767363, + 1.1626473765242875 + ], + "object_minus_finger_midpoint": [ + 0.005380484224045079, + 0.012024165143766918, + 0.0 + ], + "finger_gap": 0.026346169200836638, + "fingertip_max_gap": 0.0903734969062783, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013173084600418283, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1626473765242875, + "object_top_z": 1.2124793536048546, + "finger_top_clearance": 0.04983197708056708, + "fingertip_min_top_clearance": 0.014949593124170123, + "object_projection_between_fingers": 0.8331724534960298, + "object_to_finger_line_xy": 0.00982242699045548, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04768674845313915, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2421761813727574, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 371, + "max_stable_success_frames": 371, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33423213434042537, + -0.3637583758985617, + 0.8515395347040627 + ], + "target_position": [ + 0.32664309517540446, + -0.3659745238922067, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007905999454715259, + "xy_threshold": 0.08, + "gripper_dist": 0.18358285725047188, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395347040627, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07518564187311486, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08794353513913704, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15277160116124464, + "release_required_pad_clearance": 0.05397176756956852, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.954215283374902, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00847482681274414, + "max_z_decrease": 0.00847482681274414, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034992387963971784, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00847482681274414, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021005885721684363, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.00847482681274414, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00847501109554654, + "max_button_displacement": 0.12, + "button_start": [ + 0.1823430210351944, + -0.42223599553108215, + 0.7768088579177856 + ], + "button_final": [ + 0.1823430210351944, + -0.42223599553108215, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18191721978499684, + -0.42242936962434796, + 0.8033238369910943 + ], + "closest_button": [ + 0.18228872120380402, + -0.422222763299942, + 0.7683340311050415 + ], + "closest_ee_minus_button": [ + -0.0003715014188071797, + -0.00020660632440594462, + 0.03498980588605283 + ], + "button_min_z_position": [ + 0.18228872120380402, + -0.422222763299942, + 0.7683340311050415 + ], + "min_active_finger_to_button": 0.14627406712206648, + "closest_active_finger": [ + 0.040927790105342865, + -0.4078741669654846, + 0.8099345564842224 + ], + "closest_active_finger_button": [ + 0.1823485642671585, + -0.4222426414489746, + 0.7754408717155457 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14142077416181564, + 0.01436847448348999, + 0.03449368476867676 + ], + "min_contact_pad_to_button": 0.021005885721684363, + "closest_contact_pad": [ + 0.18228872120380402, + -0.42346542514028673, + 0.7893031280456113 + ], + "closest_contact_pad_button": [ + 0.18228872120380402, + -0.422222763299942, + 0.7683340311050415 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0012426618403447165, + 0.02096909694056981 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 76, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "fb44991281da852b49f9070ac17f81b6af58d49a5c5b62e82a9e70ad608b6768", + "visual_seed": 8797570139730115185, + "episode_index": 76, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_77_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_77_success.json new file mode 100644 index 0000000000000000000000000000000000000000..160ff8c0949bc32120fd9a027b3d2b6f09a26046 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_77_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 77, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20410617258615493, + -0.03495202940421614, + 0.9965157342980793 + ], + "current_z": 0.9965157342980793, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1399292268895137, + "gripper_z": 1.000199035447788, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19926021905790553, + -0.03965867073469788, + 1.000199035447788 + ], + "object_minus_gripper": [ + 0.004845953528249403, + 0.004706641330481737, + -0.0036833011497088286 + ], + "object_to_gripper_xy": 0.006755422874384084, + "object_to_gripper_z": -0.0036833011497088286, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20410617258615493, + -0.05919859074777847, + 0.9965157342980793 + ], + "finger_b": [ + 0.192516206047053, + -0.03495202940421614, + 0.9965157342980793 + ], + "finger_midpoint": [ + 0.19831118931660396, + -0.04707531007599731, + 0.9965157342980793 + ], + "object_minus_finger_midpoint": [ + 0.005794983269550968, + 0.012123280671781166, + 0.0 + ], + "finger_gap": 0.026874208106744908, + "fingertip_max_gap": 0.09169094754067911, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013437104053372454, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9965157342980793, + "object_top_z": 1.0418276425871233, + "finger_top_clearance": 0.04531190828904408, + "fingertip_min_top_clearance": 0.013593572486713239, + "object_projection_between_fingers": 0.8140085361942163, + "object_to_finger_line_xy": 0.010456748475860762, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048345473770339556, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.60253517720183, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3379595043148479, + 0.35222909410461856, + 0.7611066272240556 + ], + "gripper_position": [ + 0.330379600303619, + 0.3155417795802742, + 1.0165221561869098 + ], + "target_minus_gripper": [ + 0.007579904011228877, + 0.03668731452434437, + -0.25541552896285413 + ], + "held_position": [ + 0.3353416641216922, + 0.3200132579874402, + 1.0127013896728532 + ], + "held_minus_target": [ + -0.002617840193155696, + -0.032215836117178376, + 0.2515947624487975 + ], + "held_minus_gripper": [ + 0.004962063818073181, + 0.004471478407165996, + -0.003820766514056606 + ], + "xy_dist": 0.037462167473700896, + "held_xy_dist": 0.032322023204090986, + "held_gripper_dist": 0.00769509280225515, + "max_held_gripper_dist": 0.007699979194432341, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611066272240556, + "held_z": 1.0127013896728532, + "required_height": 0.7911066272240557, + "gripper_z": 1.0165221561869098, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20032595747152, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3977417942957846, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.301901077994002, + "max_source_tilt_deg": 89.77491561581185, + "source_upright_tilt_deg": 2.337283703104636, + "max_source_upright_tilt_deg": 89.72071229003495, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.301901077994002, + "source_upright_return_tilt_deg": 2.337283703104636, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.338, + 0.3522, + 0.7611 + ], + "controller_target_position": [ + 0.338, + 0.3522, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0007, + -0.0012, + 0.0002 + ], + "controller_last_pour_pose_position": [ + 0.3372, + 0.3255, + 1.0268 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0645, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007395045303761733, + -0.001247579146568306, + 0.00021196872688596146 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.33726804984866, + "source_return_step_error_deg": 2.301899390956172, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3358560259307795, + "source_return_best_wrist_position": -1.6127821207046509, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127821207046509 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.338, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.338, + 0.3522, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0007, + -0.0012, + 0.0002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3372, + 0.3255, + 1.0268 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0645, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0007395045303761733, + -0.001247579146568306, + 0.00021196872688596146 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.33726804984866, + "pour_controller_source_return_step_error_deg": 2.301899390956172, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3358560259307795, + "pour_controller_source_return_best_wrist_position": -1.6127821207046509, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127821207046509, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.037462167473700896, + "valid_pour_held_xy_dist": 0.032322023204090986, + "valid_pour_held_gripper_dist": 0.00769509280225515, + "valid_pour_required_height": 0.7911066272240557, + "valid_pour_held_z": 1.0127013896728532, + "valid_pour_source_tilt_deg": 2.301901077994002, + "valid_pour_source_upright_tilt_deg": 2.337283703104636, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3353416641216922, + 0.2961395848647532, + 1.0127013896728532 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32424500910040044, + 0.3200132579874402, + 1.0127013896728532 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3297933366110463, + 0.3080764214260967, + 1.0127013896728532 + ], + "valid_pour_held_grasp_object_position": [ + 0.3353416641216922, + 0.3200132579874402, + 1.0127013896728532 + ], + "valid_pour_held_grasp_finger_gap": 0.026326564930322094, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02397679403867576, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.011082791891782016, + -0.9991680793229846, + 0.039246923266692664 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005699467495966675, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03333480986476877, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3353416641216922, + 0.2961395848647532, + 1.0127013896728532 + ], + "held_grasp_finger_b": [ + 0.32424500910040044, + 0.3200132579874402, + 1.0127013896728532 + ], + "held_grasp_midpoint": [ + 0.3297933366110463, + 0.3080764214260967, + 1.0127013896728532 + ], + "held_grasp_object_position": [ + 0.3353416641216922, + 0.3200132579874402, + 1.0127013896728532 + ], + "held_grasp_finger_gap": 0.026326564930322094, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02397679403867576, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.011082791891782016, + -0.9991680793229846, + 0.039246923266692664 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005699467495966675, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03333480986476877, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1897798462876973, + -0.041976257689271886, + 0.7565862885998378 + ], + "target_position": [ + 0.18091555855739375, + -0.03724714480600101, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01004689532285118, + "xy_threshold": 0.08, + "gripper_dist": 0.22148257295025528, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862885998378, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07597630648415438, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08510501407183514, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19038125670400957, + "release_required_pad_clearance": 0.05255250703591757, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.1724584240962307, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 249, + "max_placed_release_frames": 249 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.347010129820879, + 0.34710625661083794, + 1.1638184667939087 + ], + "current_z": 1.1638184667939087, + "required_z": 0.8611065676194107, + "initial_z": 0.7611065676194108, + "lift_margin": 0.3027118991744979, + "gripper_z": 1.1526963356892128, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34205190928423257, + 0.3423749981782378, + 1.1526963356892128 + ], + "object_minus_gripper": [ + 0.004958220536646407, + 0.004731258432600138, + 0.011122131104695843 + ], + "object_to_gripper_xy": 0.006853375609586279, + "object_to_gripper_z": 0.011122131104695843, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.347010129820879, + 0.3230970973771249, + 1.1638184667939087 + ], + "finger_b": [ + 0.3362158531014953, + 0.34710625661083794, + 1.1638184667939087 + ], + "finger_midpoint": [ + 0.3416129914611872, + 0.3351016769939814, + 1.1638184667939087 + ], + "object_minus_finger_midpoint": [ + 0.0053971383596918, + 0.012004579616856526, + 0.0 + ], + "finger_gap": 0.026324060040282857, + "fingertip_max_gap": 0.09068326623678283, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013162030020141416, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1638184667939087, + "object_top_z": 1.2138309168663697, + "finger_top_clearance": 0.05001245007246102, + "fingertip_min_top_clearance": 0.015003735021738306, + "object_projection_between_fingers": 0.8318560098214626, + "object_to_finger_line_xy": 0.009845043210350431, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047841633118391416, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.2912690240021095, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33041163570872933, + -0.36087126461344, + 0.8515395803839549 + ], + "target_position": [ + 0.32361727916058025, + -0.36249421981234187, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006985503881683766, + "xy_threshold": 0.08, + "gripper_dist": 0.1841086046675343, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395803839549, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07531904855447809, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08599839684495252, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1527842029276054, + "release_required_pad_clearance": 0.05299919842247626, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.031724160670775, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.0084419846534729, + "max_z_decrease": 0.0084419846534729, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03498179434305254, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.0084419846534729, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021126787301943, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.0084419846534729, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008442652113333438, + "max_button_displacement": 0.12, + "button_start": [ + 0.17931720614433294, + -0.4187556803226471, + 0.7768088579177856 + ], + "button_final": [ + 0.17931720614433294, + -0.4187556803226471, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1777997153543338, + -0.4191465885582873, + 0.8049899867885923 + ], + "closest_button": [ + 0.179247334599495, + -0.4187620282173157, + 0.7700402736663818 + ], + "closest_ee_minus_button": [ + -0.0014476192451611802, + -0.00038456034097161806, + 0.03494971312221051 + ], + "button_min_z_position": [ + 0.17921452224254614, + -0.4187287390232086, + 0.7683668732643127 + ], + "min_active_finger_to_button": 0.14748152800934786, + "closest_active_finger": [ + 0.03702544420957565, + -0.40160077810287476, + 0.8075902462005615 + ], + "closest_active_finger_button": [ + 0.17933347821235662, + -0.4187677800655365, + 0.7728840708732605 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14230803400278097, + 0.017167001962661743, + 0.034706175327301025 + ], + "min_contact_pad_to_button": 0.021126787301943, + "closest_contact_pad": [ + 0.17921452224254614, + -0.4203922979041227, + 0.789428063011126 + ], + "closest_contact_pad_button": [ + 0.17921452224254614, + -0.4187287390232086, + 0.7683668732643127 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016635588809140733, + 0.021061189746813258 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 77, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ec7dbb389cce0f17d2260a0a9d5a18a95ae3eb07af9f7d90d027fd474d360e03", + "visual_seed": 7819818242061087683, + "episode_index": 77, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_79_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_79_success.json new file mode 100644 index 0000000000000000000000000000000000000000..e83ad51c71a61bb4913aac8e37261e4f79981852 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_79_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 79, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20449778742553934, + -0.030485839000010975, + 0.9945301967892826 + ], + "current_z": 0.9945301967892826, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.137943689380717, + "gripper_z": 0.9980044516649569, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1995784602355542, + -0.035208191251859866, + 0.9980044516649569 + ], + "object_minus_gripper": [ + 0.00491932718998514, + 0.0047223522518488915, + -0.003474254875674321 + ], + "object_to_gripper_xy": 0.006819119502741493, + "object_to_gripper_z": -0.003474254875674321, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20449778742553934, + -0.05488365762863585, + 0.9945301967892826 + ], + "finger_b": [ + 0.19314564523452288, + -0.030485839000010975, + 0.9945301967892826 + ], + "finger_midpoint": [ + 0.1988217163300311, + -0.04268474831432341, + 0.9945301967892826 + ], + "object_minus_finger_midpoint": [ + 0.005676071095508245, + 0.012198909314312435, + 0.0 + ], + "finger_gap": 0.026909564956727392, + "fingertip_max_gap": 0.09196896699896137, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013454782478363701, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9945301967892826, + "object_top_z": 1.0401942506207937, + "finger_top_clearance": 0.045664053831511175, + "fingertip_min_top_clearance": 0.013699216149453335, + "object_projection_between_fingers": 0.8220318478459906, + "object_to_finger_line_xy": 0.010292530060153866, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04848448349948069, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.4765550534790568, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33678001780170996, + 0.3580835219191022, + 0.7611063292008317 + ], + "gripper_position": [ + 0.33080854605683485, + 0.3239415785696887, + 1.017834764484989 + ], + "target_minus_gripper": [ + 0.005971471744875112, + 0.034141943349413506, + -0.25672843528415734 + ], + "held_position": [ + 0.3357860708271583, + 0.32846364509162185, + 1.0141819014070081 + ], + "held_minus_target": [ + -0.000993946974551685, + -0.02961987682748035, + 0.2530755722061765 + ], + "held_minus_gripper": [ + 0.004977524770323427, + 0.004522066521933155, + -0.00365286307798085 + ], + "xy_dist": 0.03466021884631433, + "held_xy_dist": 0.029636548953333414, + "held_gripper_dist": 0.007652989424692003, + "max_held_gripper_dist": 0.007659417274350519, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008317, + "held_z": 1.0141819014070081, + "required_height": 0.7911063292008317, + "gripper_z": 1.017834764484989, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20760010893758, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.690476153087171, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.337685949415385, + "max_source_tilt_deg": 89.65742800259011, + "source_upright_tilt_deg": 2.321645886610492, + "max_source_upright_tilt_deg": 89.74330136575135, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.337685949415385, + "source_upright_return_tilt_deg": 2.321645886610492, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 1.6049041769309353e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3368, + 0.3581, + 0.7611 + ], + "controller_target_position": [ + 0.3368, + 0.3581, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0017, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3368, + 0.3343, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.067, + 0.0646, + 0.0933 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.723880983190188e-05, + 0.001697400272462696, + 0.001791627586741448 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3216318081242386, + "source_return_step_error_deg": 2.3376888238211366, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.338880427636054, + "source_return_best_wrist_position": -1.613437533378601, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613437533378601 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3368, + 0.3581, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3368, + 0.3581, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0017, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3368, + 0.3343, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.067, + 0.0646, + 0.0933 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 5.723880983190188e-05, + 0.001697400272462696, + 0.001791627586741448 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3216318081242386, + "pour_controller_source_return_step_error_deg": 2.3376888238211366, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.338880427636054, + "pour_controller_source_return_best_wrist_position": -1.613437533378601, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613437533378601, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03466021884631433, + "valid_pour_held_xy_dist": 0.029636548953333414, + "valid_pour_held_gripper_dist": 0.007652989424692003, + "valid_pour_required_height": 0.7911063292008317, + "valid_pour_held_z": 1.0141819014070081, + "valid_pour_source_tilt_deg": 2.337685949415385, + "valid_pour_source_upright_tilt_deg": 2.321645886610492, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3357860708271583, + 0.3045524782460624, + 1.0141819014070081 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3246802102790023, + 0.32846364509162185, + 1.0141819014070081 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3302331405530803, + 0.31650806166884216, + 1.0141819014070081 + ], + "valid_pour_held_grasp_object_position": [ + 0.3357860708271583, + 0.32846364509162185, + 1.0141819014070081 + ], + "valid_pour_held_grasp_finger_gap": 0.02636444648444698, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.024073371938662404, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016372620800164904, + -0.9991791722069326, + 0.03705292317757192 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005764845878511742, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033345371039894045, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3357860708271583, + 0.3045524782460624, + 1.0141819014070081 + ], + "held_grasp_finger_b": [ + 0.3246802102790023, + 0.32846364509162185, + 1.0141819014070081 + ], + "held_grasp_midpoint": [ + 0.3302331405530803, + 0.31650806166884216, + 1.0141819014070081 + ], + "held_grasp_object_position": [ + 0.3357860708271583, + 0.32846364509162185, + 1.0141819014070081 + ], + "held_grasp_finger_gap": 0.02636444648444698, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.024073371938662404, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016372620800164904, + -0.9991791722069326, + 0.03705292317757192 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005764845878511742, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033345371039894045, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17767390040012174, + -0.03341920290281623, + 0.7565875571834455 + ], + "target_position": [ + 0.18400490090134794, + -0.03246694990512096, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.006402214704158715, + "xy_threshold": 0.08, + "gripper_dist": 0.20987570804930875, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565875571834455, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556617292418474, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08895032313329905, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18138070136333603, + "release_required_pad_clearance": 0.05447516156664953, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.9795494976725485, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 292, + "max_placed_release_frames": 292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3457342132032018, + 0.35519853161281356, + 1.1661710165563393 + ], + "current_z": 1.1661710165563393, + "required_z": 0.8611063292008316, + "initial_z": 0.7611063292008317, + "lift_margin": 0.3050646873555076, + "gripper_z": 1.154885490055501, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34105497000660645, + 0.3504027735962498, + 1.154885490055501 + ], + "object_minus_gripper": [ + 0.004679243196595351, + 0.004795758016563789, + 0.01128552650083825 + ], + "object_to_gripper_xy": 0.0067003441587966004, + "object_to_gripper_z": 0.01128552650083825, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3457342132032018, + 0.3313077711063781, + 1.1661710165563393 + ], + "finger_b": [ + 0.33493691263215625, + 0.35519853161281356, + 1.1661710165563393 + ], + "finger_midpoint": [ + 0.340335562917679, + 0.34325315135959583, + 1.1661710165563393 + ], + "object_minus_finger_midpoint": [ + 0.005398650285522777, + 0.01194538025321773, + 0.0 + ], + "finger_gap": 0.026217363276984148, + "fingertip_max_gap": 0.09012469168855478, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013108681638492074, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1661710165563393, + "object_top_z": 1.2161995128145446, + "finger_top_clearance": 0.05002849625820538, + "fingertip_min_top_clearance": 0.015008548877461579, + "object_projection_between_fingers": 0.8303896466845007, + "object_to_finger_line_xy": 0.00983911766158816, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04756234584427739, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.455551110615759, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 388, + "max_stable_success_frames": 388, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3271074144945793, + -0.3636183794116053, + 0.8515395841730011 + ], + "target_position": [ + 0.32121814937186416, + -0.3644722861769136, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005950848716735144, + "xy_threshold": 0.08, + "gripper_dist": 0.182767917387062, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395841730011, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07523896822701326, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08602008886711592, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15160423604456785, + "release_required_pad_clearance": 0.05301004443355796, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.0527514147678834, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.00848531723022461, + "max_z_decrease": 0.00848531723022461, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350407733701567, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.00848531723022461, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021013322483882768, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.00848531723022461, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008485628643392251, + "max_button_displacement": 0.12, + "button_start": [ + 0.17691807448863978, + -0.4207337498664856, + 0.7768088579177856 + ], + "button_final": [ + 0.17691807448863978, + -0.4207337498664856, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17788630165195538, + -0.4193742519662447, + 0.8033236022702068 + ], + "closest_button": [ + 0.176850214600563, + -0.4207076728343963, + 0.768323540687561 + ], + "closest_ee_minus_button": [ + 0.0010360870513923814, + 0.0013334208681515802, + 0.03500006158264579 + ], + "button_min_z_position": [ + 0.176850214600563, + -0.4207076728343963, + 0.768323540687561 + ], + "min_active_finger_to_button": 0.14446496166702483, + "closest_active_finger": [ + 0.050897642970085144, + -0.482383668422699, + 0.8107988238334656 + ], + "closest_active_finger_button": [ + 0.17692500352859492, + -0.4207398593425751, + 0.7763420343399048 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12602736055850977, + -0.0616438090801239, + 0.03445678949356079 + ], + "min_contact_pad_to_button": 0.021013322483882768, + "closest_contact_pad": [ + 0.176850214600563, + -0.4207076728343963, + 0.7893368631714438 + ], + "closest_contact_pad_button": [ + 0.176850214600563, + -0.4207076728343963, + 0.768323540687561 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021013322483882768 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 79, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "cc27c52567c04c1d904672b7690cb866b4b4e3dfc9ec461cee63f9ef5f0ec428", + "visual_seed": 62592475250784846, + "episode_index": 79, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_7_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_7_success.json new file mode 100644 index 0000000000000000000000000000000000000000..8c0c37d6c61bae748d9f7285568794e82c3a84ae --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_7_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 7, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1996796319980945, + -0.027700273251320056, + 0.9973488862639365 + ], + "current_z": 0.9973488862639365, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14076243846001568, + "gripper_z": 1.0002398863151531, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19486949288486316, + -0.03228383222257625, + 1.0002398863151531 + ], + "object_minus_gripper": [ + 0.004810139113231332, + 0.0045835589712561915, + -0.0028910000512166745 + ], + "object_to_gripper_xy": 0.0066442795795797925, + "object_to_gripper_z": -0.0028910000512166745, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1996796319980945, + -0.052068866289291305, + 0.9973488862639365 + ], + "finger_b": [ + 0.18856159533716238, + -0.027700273251320056, + 0.9973488862639365 + ], + "finger_midpoint": [ + 0.19412061366762845, + -0.03988456977030568, + 0.9973488862639365 + ], + "object_minus_finger_midpoint": [ + 0.005559018330466042, + 0.012184296518985626, + 0.0 + ], + "finger_gap": 0.026785053030451356, + "fingertip_max_gap": 0.09197399197718736, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013392526515225673, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9973488862639365, + "object_top_z": 1.042931929608162, + "finger_top_clearance": 0.04558304334422558, + "fingertip_min_top_clearance": 0.013674913003267675, + "object_projection_between_fingers": 0.8277055919050097, + "object_to_finger_line_xy": 0.010115003709848315, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048486995988593684, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3475130623363571, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 164, + "max_stable_success_frames": 164, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3413469256844004, + 0.3557838555143781, + 0.7611063888054764 + ], + "gripper_position": [ + 0.33418176888777007, + 0.31944900472249527, + 1.016003379071857 + ], + "target_minus_gripper": [ + 0.007165156796630323, + 0.03633485079188281, + -0.2548969902663806 + ], + "held_position": [ + 0.3389665896695323, + 0.3239485124849327, + 1.0129422504981542 + ], + "held_minus_target": [ + -0.0023803360148680897, + -0.03183534302944535, + 0.2518358616926778 + ], + "held_minus_gripper": [ + 0.0047848207817622335, + 0.00449950776243746, + -0.003061128573702776 + ], + "xy_dist": 0.03703458996652568, + "held_xy_dist": 0.03192420813968817, + "held_gripper_dist": 0.007246418988890878, + "max_held_gripper_dist": 0.007250784051546169, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054764, + "held_z": 1.0129422504981542, + "required_height": 0.7911063888054765, + "gripper_z": 1.016003379071857, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19873452339492, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.8902922806557165, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1627693241666246, + "max_source_tilt_deg": 89.64641284138321, + "source_upright_tilt_deg": 2.9145444163550804, + "max_source_upright_tilt_deg": 89.61097883239032, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1627693241666246, + "source_upright_return_tilt_deg": 2.9145444163550804, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.2644054553268208e-07, + "max_target_xy_drift": 1.737759081973225e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3413, + 0.3558, + 0.7611 + ], + "controller_target_position": [ + 0.3413, + 0.3558, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0012, + -0.0012, + -0.0014 + ], + "controller_last_pour_pose_position": [ + 0.3426, + 0.3291, + 1.0252 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0658, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012113705476006777, + -0.0012152365293417082, + -0.0013594231435302 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.9148075788333796, + "source_return_step_error_deg": 2.1629185311184482, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.9132854940838677, + "source_return_best_wrist_position": -1.6125507354736328, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125507354736328 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3413, + 0.3558, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3413, + 0.3558, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0012, + -0.0012, + -0.0014 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3426, + 0.3291, + 1.0252 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0658, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012113705476006777, + -0.0012152365293417082, + -0.0013594231435302 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.9148075788333796, + "pour_controller_source_return_step_error_deg": 2.1629185311184482, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.9132854940838677, + "pour_controller_source_return_best_wrist_position": -1.6125507354736328, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125507354736328, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03703458996652568, + "valid_pour_held_xy_dist": 0.03192420813968817, + "valid_pour_held_gripper_dist": 0.007246418988890878, + "valid_pour_required_height": 0.7911063888054765, + "valid_pour_held_z": 1.0129422504981542, + "valid_pour_source_tilt_deg": 2.1627693241666246, + "valid_pour_source_upright_tilt_deg": 2.9145444163550804, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.2644054553268208e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3389665896695323, + 0.30030129986601456, + 1.0129422504981542 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32769568282883255, + 0.3239485124849327, + 1.0129422504981542 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3333311362491824, + 0.3121249061754736, + 1.0129422504981542 + ], + "valid_pour_held_grasp_object_position": [ + 0.3389665896695323, + 0.3239485124849327, + 1.0129422504981542 + ], + "valid_pour_held_grasp_finger_gap": 0.02619587764622623, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023981673033314176, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03238854386002402, + -0.9987064925304656, + 0.039195969233102756 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006032996671491588, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03357443670970593, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3389665896695323, + 0.30030129986601456, + 1.0129422504981542 + ], + "held_grasp_finger_b": [ + 0.32769568282883255, + 0.3239485124849327, + 1.0129422504981542 + ], + "held_grasp_midpoint": [ + 0.3333311362491824, + 0.3121249061754736, + 1.0129422504981542 + ], + "held_grasp_object_position": [ + 0.3389665896695323, + 0.3239485124849327, + 1.0129422504981542 + ], + "held_grasp_finger_gap": 0.02619587764622623, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023981673033314176, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03238854386002402, + -0.9987064925304656, + 0.039195969233102756 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006032996671491588, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03357443670970593, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17563714486546994, + -0.028471432891626812, + 0.7565863196733261 + ], + "target_position": [ + 0.17917976406892822, + -0.029580103884080347, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0037120482472914125, + "xy_threshold": 0.08, + "gripper_dist": 0.21475253983067527, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863196733261, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07550798572495915, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08831706471102439, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18658470332364674, + "release_required_pad_clearance": 0.0541585323555122, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.3320180115439872, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 292, + "max_placed_release_frames": 292 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35024941494837497, + 0.35208862679741065, + 1.1650503330907807 + ], + "current_z": 1.1650503330907807, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.30394394428530425, + "gripper_z": 1.1537102544340732, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34545019325043225, + 0.34737492240651785, + 1.1537102544340732 + ], + "object_minus_gripper": [ + 0.004799221697942724, + 0.004713704390892803, + 0.011340078656707497 + ], + "object_to_gripper_xy": 0.006726926340515877, + "object_to_gripper_z": 0.011340078656707497, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35024941494837497, + 0.327979402565442, + 1.1650503330907807 + ], + "finger_b": [ + 0.3397596087012444, + 0.35208862679741065, + 1.1650503330907807 + ], + "finger_midpoint": [ + 0.3450045118248097, + 0.34003401468142636, + 1.1650503330907807 + ], + "object_minus_finger_midpoint": [ + 0.005244903123565292, + 0.012054612115984298, + 0.0 + ], + "finger_gap": 0.026292408185057608, + "fingertip_max_gap": 0.09015761057540603, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013146204092528778, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1650503330907807, + "object_top_z": 1.2150327467844715, + "finger_top_clearance": 0.04998241369369083, + "fingertip_min_top_clearance": 0.014994724108107281, + "object_projection_between_fingers": 0.8408252409320173, + "object_to_finger_line_xy": 0.009618787643259883, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047578805287703016, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.37500863757948594, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 381, + "max_stable_success_frames": 381, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3295616210733793, + -0.3620370818098173, + 0.8515396004307964 + ], + "target_position": [ + 0.32344845631747016, + -0.3629601363207458, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006182460106060923, + "xy_threshold": 0.08, + "gripper_dist": 0.18403855776602426, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396004307964, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07558512143050233, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0855701241739275, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15182883335456493, + "release_required_pad_clearance": 0.05278506208696375, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6180208304624337, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008471906185150146, + "max_z_decrease": 0.008471906185150146, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03497712354746057, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008471906185150146, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021186417885329382, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008471906185150146, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008472635458706608, + "max_button_displacement": 0.12, + "button_start": [ + 0.17914837598800662, + -0.4192215800285339, + 0.7768088579177856 + ], + "button_final": [ + 0.17914837598800662, + -0.4192215800285339, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1789999006422252, + -0.41950502662212413, + 0.8042052866104707 + ], + "closest_button": [ + 0.17904500663280493, + -0.41919896006584156, + 0.769229531288147 + ], + "closest_ee_minus_button": [ + -4.510599057971909e-05, + -0.0003060665562825693, + 0.034975755322323776 + ], + "button_min_z_position": [ + 0.17904205620288854, + -0.4191891252994537, + 0.7683369517326355 + ], + "min_active_finger_to_button": 0.14609355682709224, + "closest_active_finger": [ + 0.03835112601518631, + -0.4017442762851715, + 0.8076361417770386 + ], + "closest_active_finger_button": [ + 0.1791653633117676, + -0.4192305505275726, + 0.7728667855262756 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1408142372965813, + 0.017486274242401068, + 0.03476935625076294 + ], + "min_contact_pad_to_button": 0.021186417885329382, + "closest_contact_pad": [ + 0.17904880642890933, + -0.42075872250892593, + 0.7898394437003815 + ], + "closest_contact_pad_button": [ + 0.17904880642890933, + -0.41918483376502985, + 0.7687115669250488 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0015738887438960791, + 0.021127876775332677 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 7, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3afe9e4bdcefac3d9ef24ef12969221ec15156a46882222f57c72a70bfbe8c3f", + "visual_seed": 2055777324039200209, + "episode_index": 7, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_80_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_80_success.json new file mode 100644 index 0000000000000000000000000000000000000000..3d0a2c7f56b06b822df32331ea606d5fbb6ecdd8 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_80_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 80, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19889644680244173, + -0.03478261676697144, + 0.9966429434116781 + ], + "current_z": 0.9966429434116781, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14005649560775735, + "gripper_z": 0.9996405789984105, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19419678198015863, + -0.03929827429867114, + 0.9996405789984105 + ], + "object_minus_gripper": [ + 0.004699664822283095, + 0.0045156575316996975, + -0.0029976355867323834 + ], + "object_to_gripper_xy": 0.006517515813974017, + "object_to_gripper_z": -0.0029976355867323834, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19889644680244173, + -0.05913702694328365, + 0.9966429434116781 + ], + "finger_b": [ + 0.18785243179306454, + -0.03478261676697144, + 0.9966429434116781 + ], + "finger_midpoint": [ + 0.19337443929775314, + -0.046959821855127544, + 0.9966429434116781 + ], + "object_minus_finger_midpoint": [ + 0.005522007504688592, + 0.012177205088156104, + 0.0 + ], + "finger_gap": 0.026741495144501703, + "fingertip_max_gap": 0.09144194224924693, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013370747572250851, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9966429434116781, + "object_top_z": 1.0420119000610655, + "finger_top_clearance": 0.04536895664938734, + "fingertip_min_top_clearance": 0.0136106869948162, + "object_projection_between_fingers": 0.8294378721291547, + "object_to_finger_line_xy": 0.010058168777710378, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048220971124623466, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2901009417665406, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33989284057278235, + 0.34975195487007565, + 0.7611063888054767 + ], + "gripper_position": [ + 0.3335192553962793, + 0.3148478978802138, + 1.0162576660016316 + ], + "target_minus_gripper": [ + 0.006373585176503049, + 0.034904056989861876, + -0.25515127719615494 + ], + "held_position": [ + 0.3382487680973349, + 0.3192415072875383, + 1.0131276951670836 + ], + "held_minus_target": [ + -0.0016440724754474556, + -0.030510447582537348, + 0.2520213063616069 + ], + "held_minus_gripper": [ + 0.004729512701055594, + 0.004393609407324528, + -0.0031299708345480237 + ], + "xy_dist": 0.03548120322584432, + "held_xy_dist": 0.030554711355064098, + "held_gripper_dist": 0.007174176708075848, + "max_held_gripper_dist": 0.007180500847150095, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054767, + "held_z": 1.0131276951670836, + "required_height": 0.7911063888054767, + "gripper_z": 1.0162576660016316, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20727225985743, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9033697976945272, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2710116021269497, + "max_source_tilt_deg": 89.78826411756427, + "source_upright_tilt_deg": 2.560006346408982, + "max_source_upright_tilt_deg": 89.84686130239072, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2710116021269497, + "source_upright_return_tilt_deg": 2.560006346408982, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696727410824e-08, + "max_target_xy_drift": 1.5196262351410784e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3399, + 0.3498, + 0.7611 + ], + "controller_target_position": [ + 0.3399, + 0.3498, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0016, + 0.001, + -0.0017 + ], + "controller_last_pour_pose_position": [ + 0.3415, + 0.3254, + 1.0248 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0675, + 0.0652, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016465938248349998, + 0.0010227168434030968, + -0.0016809690208437296 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.560011223605054, + "source_return_step_error_deg": 2.271008554453093, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5625510420640065, + "source_return_best_wrist_position": -1.613111972808838, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.613111972808838 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3399, + 0.3498, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3399, + 0.3498, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0016, + 0.001, + -0.0017 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3415, + 0.3254, + 1.0248 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0675, + 0.0652, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0016465938248349998, + 0.0010227168434030968, + -0.0016809690208437296 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.560011223605054, + "pour_controller_source_return_step_error_deg": 2.271008554453093, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5625510420640065, + "pour_controller_source_return_best_wrist_position": -1.613111972808838, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.613111972808838, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03548120322584432, + "valid_pour_held_xy_dist": 0.030554711355064098, + "valid_pour_held_gripper_dist": 0.007174176708075848, + "valid_pour_required_height": 0.7911063888054767, + "valid_pour_held_z": 1.0131276951670836, + "valid_pour_source_tilt_deg": 2.2710116021269497, + "valid_pour_source_upright_tilt_deg": 2.560006346408982, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696727410824e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3382487680973349, + 0.29551220569867304, + 1.0131276951670836 + ], + "valid_pour_held_grasp_finger_b": [ + 0.327308229041197, + 0.3192415072875383, + 1.0131276951670836 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33277849856926595, + 0.30737685649310564, + 1.0131276951670836 + ], + "valid_pour_held_grasp_object_position": [ + 0.3382487680973349, + 0.3192415072875383, + 1.0131276951670836 + ], + "valid_pour_held_grasp_finger_gap": 0.02612996648934328, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023956049845161774, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.022890103988896078, + -0.9990020009520978, + 0.03835420750168416 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005758238125865774, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03347263011991946, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3382487680973349, + 0.29551220569867304, + 1.0131276951670836 + ], + "held_grasp_finger_b": [ + 0.327308229041197, + 0.3192415072875383, + 1.0131276951670836 + ], + "held_grasp_midpoint": [ + 0.33277849856926595, + 0.30737685649310564, + 1.0131276951670836 + ], + "held_grasp_object_position": [ + 0.3382487680973349, + 0.3192415072875383, + 1.0131276951670836 + ], + "held_grasp_finger_gap": 0.02612996648934328, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023956049845161774, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.022890103988896078, + -0.9990020009520978, + 0.03835420750168416 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005758238125865774, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03347263011991946, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18209858080752236, + -0.03828701280432845, + 0.756586701141213 + ], + "target_position": [ + 0.1757290305788694, + -0.03805093309607545, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.00637392373220623, + "xy_threshold": 0.08, + "gripper_dist": 0.21911454862553056, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586701141213, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752281967390481, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08664134392276861, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19041967374347998, + "release_required_pad_clearance": 0.053320671961384306, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.6574862728065085, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 257, + "max_placed_release_frames": 257 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.348829910034212, + 0.3445794334463291, + 1.1652595091133402 + ], + "current_z": 1.1652595091133402, + "required_z": 0.8611064484101214, + "initial_z": 0.7611064484101214, + "lift_margin": 0.3041530607032188, + "gripper_z": 1.1539815762243888, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34417333433418806, + 0.33986256254678965, + 1.1539815762243888 + ], + "object_minus_gripper": [ + 0.004656575700023924, + 0.004716870899539427, + 0.011277932888951403 + ], + "object_to_gripper_xy": 0.006628164778652926, + "object_to_gripper_z": 0.011277932888951403, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.348829910034212, + 0.32075907596964826, + 1.1652595091133402 + ], + "finger_b": [ + 0.33807408260718835, + 0.3445794334463291, + 1.1652595091133402 + ], + "finger_midpoint": [ + 0.34345199632070017, + 0.3326692547079887, + 1.1652595091133402 + ], + "object_minus_finger_midpoint": [ + 0.005377913713511817, + 0.011910178738340382, + 0.0 + ], + "finger_gap": 0.026136129284130383, + "fingertip_max_gap": 0.09053230607580534, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068064642065166, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1652595091133402, + "object_top_z": 1.215175800994567, + "finger_top_clearance": 0.049916291881226815, + "fingertip_min_top_clearance": 0.014974887564368045, + "object_projection_between_fingers": 0.8306422358312776, + "object_to_finger_line_xy": 0.009802815538747645, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776615303790267, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.5468986900559036, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 383, + "max_stable_success_frames": 383, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33068140730302026, + -0.36895804528566495, + 0.8515395294415541 + ], + "target_position": [ + 0.322531106932152, + -0.3707347517068343, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.008341707369741519, + "xy_threshold": 0.08, + "gripper_dist": 0.18429911563978318, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395294415541, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0758921200640975, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09090027278054301, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15165990097969986, + "release_required_pad_clearance": 0.05545013639027151, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 6.035187026347832, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008480846881866455, + "max_z_decrease": 0.008480846881866455, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500517302741613, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008480846881866455, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021106114578474743, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008480846881866455, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008481825292489571, + "max_button_displacement": 0.12, + "button_start": [ + 0.1782310307025909, + -0.4269962012767792, + 0.7768088579177856 + ], + "button_final": [ + 0.1782310307025909, + -0.4269962012767792, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17743213116071552, + -0.4281502844272117, + 0.8036802560821096 + ], + "closest_button": [ + 0.17811512947082517, + -0.4269712269306183, + 0.7687016129493713 + ], + "closest_ee_minus_button": [ + -0.0006829983101096504, + -0.0011790574965934164, + 0.03497864313273824 + ], + "button_min_z_position": [ + 0.1781050711870193, + -0.42696917057037354, + 0.7683280110359192 + ], + "min_active_finger_to_button": 0.14650104555261717, + "closest_active_finger": [ + 0.03664457052946091, + -0.41190868616104126, + 0.8093420267105103 + ], + "closest_active_finger_button": [ + 0.17822657525539393, + -0.42700228095054626, + 0.7748561501502991 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14158200472593302, + 0.015093594789505005, + 0.03448587656021118 + ], + "min_contact_pad_to_button": 0.021106114578474743, + "closest_contact_pad": [ + 0.17811512947082517, + -0.42933731904477096, + 0.7896746833184672 + ], + "closest_contact_pad_button": [ + 0.17811512947082517, + -0.4269712269306183, + 0.7687016129493713 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023660921141526736, + 0.020973070369095903 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 80, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5b9d0b8936f90f8af4b22e4400ae1e0ac11d334655cb1a6dd2672ed602c64cc1", + "visual_seed": 5516239774682668062, + "episode_index": 80, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_81_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_81_success.json new file mode 100644 index 0000000000000000000000000000000000000000..60260398b78b418071e3606f5e0a649c0b2d3112 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_81_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 81, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20236112230952993, + -0.030404776776786397, + 0.9969907979738228 + ], + "current_z": 0.9969907979738228, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14040435016990205, + "gripper_z": 1.000032037768336, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19767372768201597, + -0.03499940211046483, + 1.000032037768336 + ], + "object_minus_gripper": [ + 0.004687394627513969, + 0.004594625333678434, + -0.0030412397945132064 + ], + "object_to_gripper_xy": 0.006563707058585604, + "object_to_gripper_z": -0.0030412397945132064, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20236112230952993, + -0.05458582551829976, + 0.9969907979738228 + ], + "finger_b": [ + 0.1910507792296064, + -0.030404776776786397, + 0.9969907979738228 + ], + "finger_midpoint": [ + 0.19670595076956815, + -0.04249530114754308, + 0.9969907979738228 + ], + "object_minus_finger_midpoint": [ + 0.005655171539961784, + 0.012090524370756684, + 0.0 + ], + "finger_gap": 0.02669544865375031, + "fingertip_max_gap": 0.09179019696579746, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013347724326875164, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9969907979738228, + "object_top_z": 1.0425125135709346, + "finger_top_clearance": 0.04552171559711171, + "fingertip_min_top_clearance": 0.013656514679133513, + "object_projection_between_fingers": 0.820494768957711, + "object_to_finger_line_xy": 0.010245040675143216, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04839509848289873, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.363270550757766, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3362357081856211, + 0.3507662471102185, + 0.7611062695961869 + ], + "gripper_position": [ + 0.33034210861648106, + 0.3158486197948889, + 1.0163311614606558 + ], + "target_minus_gripper": [ + 0.00589359956914004, + 0.0349176273153296, + -0.25522489186446895 + ], + "held_position": [ + 0.3351200511318593, + 0.3202425792826323, + 1.0131373717331715 + ], + "held_minus_target": [ + -0.0011156570537618204, + -0.0305236678275862, + 0.25203110213698465 + ], + "held_minus_gripper": [ + 0.00477794251537822, + 0.004393959487743404, + -0.0031937897274842975 + ], + "xy_dist": 0.03541151243894589, + "held_xy_dist": 0.03054404996575322, + "held_gripper_dist": 0.007234356051755626, + "max_held_gripper_dist": 0.007239205760746509, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611062695961869, + "held_z": 1.0131373717331715, + "required_height": 0.7911062695961869, + "gripper_z": 1.0163311614606558, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.202675542546, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.3152062931030644, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.3216231239061447, + "max_source_tilt_deg": 89.8292093805448, + "source_upright_tilt_deg": 2.241776357636096, + "max_source_upright_tilt_deg": 89.64601065386748, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.3216231239061447, + "source_upright_return_tilt_deg": 2.241776357636096, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3362, + 0.3508, + 0.7611 + ], + "controller_target_position": [ + 0.3362, + 0.3508, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0018, + 0.0015, + -0.002 + ], + "controller_last_pour_pose_position": [ + 0.338, + 0.3269, + 1.0245 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0667, + 0.0643, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001813719661441162, + 0.001511317985864726, + -0.00196879975121579 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2417694451207484, + "source_return_step_error_deg": 2.3216077629630796, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.321881085980078, + "source_return_best_wrist_position": -1.612870216369629, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612870216369629 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3362, + 0.3508, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3362, + 0.3508, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0018, + 0.0015, + -0.002 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.338, + 0.3269, + 1.0245 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0667, + 0.0643, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.001813719661441162, + 0.001511317985864726, + -0.00196879975121579 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2417694451207484, + "pour_controller_source_return_step_error_deg": 2.3216077629630796, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.321881085980078, + "pour_controller_source_return_best_wrist_position": -1.612870216369629, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612870216369629, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03541151243894589, + "valid_pour_held_xy_dist": 0.03054404996575322, + "valid_pour_held_gripper_dist": 0.007234356051755626, + "valid_pour_required_height": 0.7911062695961869, + "valid_pour_held_z": 1.0131373717331715, + "valid_pour_source_tilt_deg": 2.3216231239061447, + "valid_pour_source_upright_tilt_deg": 2.241776357636096, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3351200511318593, + 0.29642944991038706, + 1.0131373717331715 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3242359678393294, + 0.3202425792826323, + 1.0131373717331715 + ], + "valid_pour_held_grasp_midpoint": [ + 0.32967800948559434, + 0.30833601459650967, + 1.0131373717331715 + ], + "valid_pour_held_grasp_object_position": [ + 0.3351200511318593, + 0.3202425792826323, + 1.0131373717331715 + ], + "valid_pour_held_grasp_finger_gap": 0.02618259726646721, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023890551006081926, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.008787741571996877, + -0.999234671046327, + 0.03811624033141959 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005564925216098374, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03335059597399266, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3351200511318593, + 0.29642944991038706, + 1.0131373717331715 + ], + "held_grasp_finger_b": [ + 0.3242359678393294, + 0.3202425792826323, + 1.0131373717331715 + ], + "held_grasp_midpoint": [ + 0.32967800948559434, + 0.30833601459650967, + 1.0131373717331715 + ], + "held_grasp_object_position": [ + 0.3351200511318593, + 0.3202425792826323, + 1.0131373717331715 + ], + "held_grasp_finger_gap": 0.02618259726646721, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023890551006081926, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.008787741571996877, + -0.999234671046327, + 0.03811624033141959 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005564925216098374, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03335059597399266, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18442510589373615, + -0.03001310618697277, + 0.7565890826387067 + ], + "target_position": [ + 0.18075071535997955, + -0.03420868734491554, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.005577100236453034, + "xy_threshold": 0.08, + "gripper_dist": 0.21966639961648768, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565890826387067, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07586767094697935, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0911598647760657, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19084599471236574, + "release_required_pad_clearance": 0.055579932388032854, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.3129459444041345, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 282, + "max_placed_release_frames": 282 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34539361929610574, + 0.3469262145982918, + 1.16299670941425 + ], + "current_z": 1.16299670941425, + "required_z": 0.8611063888054764, + "initial_z": 0.7611063888054764, + "lift_margin": 0.3018903206087735, + "gripper_z": 1.1517218936455085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3402834116725152, + 0.3420997537437271, + 1.1517218936455085 + ], + "object_minus_gripper": [ + 0.005110207623590546, + 0.004826460854564729, + 0.011274815768741453 + ], + "object_to_gripper_xy": 0.007029149759170637, + "object_to_gripper_z": 0.011274815768741453, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34539361929610574, + 0.3226174960147949, + 1.16299670941425 + ], + "finger_b": [ + 0.33471564084860955, + 0.3469262145982918, + 1.16299670941425 + ], + "finger_midpoint": [ + 0.34005463007235764, + 0.33477185530654335, + 1.16299670941425 + ], + "object_minus_finger_midpoint": [ + 0.005338989223748092, + 0.012154359291748462, + 0.0 + ], + "finger_gap": 0.026550574812927153, + "fingertip_max_gap": 0.09031808935792543, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013275287406463577, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16299670941425, + "object_top_z": 1.213113283821665, + "finger_top_clearance": 0.050116574407415015, + "fingertip_min_top_clearance": 0.015034972322224505, + "object_projection_between_fingers": 0.8382552384102478, + "object_to_finger_line_xy": 0.009776359832121202, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04765904467896272, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4221092600718811, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 378, + "max_stable_success_frames": 378, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3308275154195262, + -0.3635453462114428, + 0.8515395765564437 + ], + "target_position": [ + 0.32408487181552625, + -0.36494252173994673, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006885879916758042, + "xy_threshold": 0.08, + "gripper_dist": 0.1829650069496431, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395765564437, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07513547017185382, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08534653665397283, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15224595942990074, + "release_required_pad_clearance": 0.05267326832698642, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4034823775774534, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008636415004730225, + "max_z_decrease": 0.008636415004730225, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.034989374733448694, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008636415004730225, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021102063013042727, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008636415004730225, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008637235850632691, + "max_button_displacement": 0.12, + "button_start": [ + 0.17978480458259577, + -0.42120397090911865, + 0.7768088579177856 + ], + "button_final": [ + 0.17978480458259577, + -0.42120397090911865, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17952817842257612, + -0.4219261740418889, + 0.8046606165637589 + ], + "closest_button": [ + 0.17969542741775507, + -0.42120814323425293, + 0.7696790099143982 + ], + "closest_ee_minus_button": [ + -0.00016724899517894798, + -0.0007180308076359943, + 0.034981606649360675 + ], + "button_min_z_position": [ + 0.1796730458736419, + -0.4211628735065461, + 0.7681724429130554 + ], + "min_active_finger_to_button": 0.14619295433583998, + "closest_active_finger": [ + 0.038621604442596436, + -0.40550798177719116, + 0.8095300793647766 + ], + "closest_active_finger_button": [ + 0.17978903651237482, + -0.42121198773384094, + 0.7749248743057251 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1411674320697784, + 0.01570400595664978, + 0.034605205059051514 + ], + "min_contact_pad_to_button": 0.021102063013042727, + "closest_contact_pad": [ + 0.1796730458736419, + -0.42297785756191114, + 0.7891963078356903 + ], + "closest_contact_pad_button": [ + 0.1796730458736419, + -0.4211628735065461, + 0.7681724429130554 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0018149840553650654, + 0.02102386492263486 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 81, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "2a6413f3d98f8492c6265e63596d2127dfbe130d106df98bd8acbb5e34ad20c6", + "visual_seed": 2392818500708950255, + "episode_index": 81, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_82_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_82_success.json new file mode 100644 index 0000000000000000000000000000000000000000..31d5462cbd8f212cc249c32a4dff93c3ec0fa78c --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_82_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 82, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20437503059098774, + -0.03240457779856382, + 0.997406404352503 + ], + "current_z": 0.997406404352503, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14081989694393748, + "gripper_z": 1.0004819781091643, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19964269635035928, + -0.03697240945332837, + 1.0004819781091643 + ], + "object_minus_gripper": [ + 0.004732334240628466, + 0.0045678316547645495, + -0.003075573756661232 + ], + "object_to_gripper_xy": 0.006577239040151547, + "object_to_gripper_z": -0.003075573756661232, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20437503059098774, + -0.05667575670562533, + 0.997406404352503 + ], + "finger_b": [ + 0.19323273475578184, + -0.03240457779856382, + 0.997406404352503 + ], + "finger_midpoint": [ + 0.19880388267338478, + -0.04454016725209457, + 0.997406404352503 + ], + "object_minus_finger_midpoint": [ + 0.005571147917602964, + 0.01213558945353075, + 0.0 + ], + "finger_gap": 0.02670657001596862, + "fingertip_max_gap": 0.09211593523672817, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013353285007984314, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.997406404352503, + "object_top_z": 1.0430440153389318, + "finger_top_clearance": 0.04563761098642871, + "fingertip_min_top_clearance": 0.013691283295928596, + "object_projection_between_fingers": 0.825934323719623, + "object_to_finger_line_xy": 0.010126221955495857, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04855796761836409, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3982908438771837, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34064803142208666, + 0.3542960341738172, + 0.7611064484101211 + ], + "gripper_position": [ + 0.3334228660882136, + 0.31797923687236573, + 1.0162833068062453 + ], + "target_minus_gripper": [ + 0.007225165333873074, + 0.03631679730145149, + -0.25517685839612425 + ], + "held_position": [ + 0.33815364906953627, + 0.3224297404513131, + 1.0130363198703365 + ], + "held_minus_target": [ + -0.002494382352550395, + -0.0318662937225041, + 0.2519298714602154 + ], + "held_minus_gripper": [ + 0.004730782981322679, + 0.004450503578947385, + -0.0032469869359088577 + ], + "xy_dist": 0.03702854007838434, + "held_xy_dist": 0.031963770411664816, + "held_gripper_dist": 0.0072615572630502995, + "max_held_gripper_dist": 0.007277667398633508, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0130363198703365, + "required_height": 0.7911064484101211, + "gripper_z": 1.0162833068062453, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19479350424382, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7134608033772845, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1555840447150074, + "max_source_tilt_deg": 89.77577515378145, + "source_upright_tilt_deg": 2.737678205145264, + "max_source_upright_tilt_deg": 89.59654895388516, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1555840447150074, + "source_upright_return_tilt_deg": 2.737678205145264, + "missing_source_orientation_samples": 0, + "target_xy_drift": 8.940696716308594e-08, + "max_target_xy_drift": 1.4901161193847656e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3406, + 0.3543, + 0.7611 + ], + "controller_target_position": [ + 0.3406, + 0.3543, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0, + -0.0006, + -0.0006 + ], + "controller_last_pour_pose_position": [ + 0.3407, + 0.3283, + 1.0259 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.1397255950290298e-05, + -0.0006117176610668761, + -0.0005565559261764639 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.7376781078381063, + "source_return_step_error_deg": 2.1555473168617962, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.742903474158794, + "source_return_best_wrist_position": -1.6123948097229004, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6123948097229004 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3406, + 0.3543, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3406, + 0.3543, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0, + -0.0006, + -0.0006 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3407, + 0.3283, + 1.0259 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 2.1397255950290298e-05, + -0.0006117176610668761, + -0.0005565559261764639 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.7376781078381063, + "pour_controller_source_return_step_error_deg": 2.1555473168617962, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.742903474158794, + "pour_controller_source_return_best_wrist_position": -1.6123948097229004, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6123948097229004, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03702854007838434, + "valid_pour_held_xy_dist": 0.031963770411664816, + "valid_pour_held_gripper_dist": 0.0072615572630502995, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0130363198703365, + "valid_pour_source_tilt_deg": 2.1555840447150074, + "valid_pour_source_upright_tilt_deg": 2.737678205145264, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 8.940696716308594e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33815364906953627, + 0.2988009615755099, + 1.0130363198703365 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3269722897300755, + 0.3224297404513131, + 1.0130363198703365 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3325629693998059, + 0.31061535101341153, + 1.0130363198703365 + ], + "valid_pour_held_grasp_object_position": [ + 0.33815364906953627, + 0.3224297404513131, + 1.0130363198703365 + ], + "valid_pour_held_grasp_finger_gap": 0.026140810772425378, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023914953258497906, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02800572768857056, + -0.9988586916701849, + 0.03869099755188998 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005936747463367872, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033555890441410816, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33815364906953627, + 0.2988009615755099, + 1.0130363198703365 + ], + "held_grasp_finger_b": [ + 0.3269722897300755, + 0.3224297404513131, + 1.0130363198703365 + ], + "held_grasp_midpoint": [ + 0.3325629693998059, + 0.31061535101341153, + 1.0130363198703365 + ], + "held_grasp_object_position": [ + 0.33815364906953627, + 0.3224297404513131, + 1.0130363198703365 + ], + "held_grasp_finger_gap": 0.026140810772425378, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023914953258497906, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02800572768857056, + -0.9988586916701849, + 0.03869099755188998 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005936747463367872, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033555890441410816, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18554729239398624, + -0.03354826760086537, + 0.7565862519296082 + ], + "target_position": [ + 0.1839082948606083, + -0.03422351753942561, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.001772646437940894, + "xy_threshold": 0.08, + "gripper_dist": 0.21894200439293746, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862519296082, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524069662076728, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09107741073667582, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19055840642635183, + "release_required_pad_clearance": 0.05553870536833791, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 6.2260141639122235, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3493569297793593, + 0.35196773385602853, + 1.164316397893336 + ], + "current_z": 1.164316397893336, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30321000908785967, + "gripper_z": 1.1532449726927974, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3446990789235965, + 0.34730346588209215, + 1.1532449726927974 + ], + "object_minus_gripper": [ + 0.004657850855762757, + 0.004664267973936376, + 0.01107142520053861 + ], + "object_to_gripper_xy": 0.006591735001288993, + "object_to_gripper_z": 0.01107142520053861, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3493569297793593, + 0.32821536222043884, + 1.164316397893336 + ], + "finger_b": [ + 0.33861298360644054, + 0.35196773385602853, + 1.164316397893336 + ], + "finger_midpoint": [ + 0.3439849566928999, + 0.3400915480382337, + 1.164316397893336 + ], + "object_minus_finger_midpoint": [ + 0.0053719730864593696, + 0.011876185817794815, + 0.0 + ], + "finger_gap": 0.02606928341327664, + "fingertip_max_gap": 0.09044692607816299, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013034641706638296, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.164316397893336, + "object_top_z": 1.2141216559912449, + "finger_top_clearance": 0.04980525809790892, + "fingertip_min_top_clearance": 0.014941577429372643, + "object_projection_between_fingers": 0.8301484710420737, + "object_to_finger_line_xy": 0.009789076219945946, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047723463039081496, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.44343766504433085, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3324948018640047, + -0.36658254133556945, + 0.8515395832487571 + ], + "target_position": [ + 0.32586637717270994, + -0.3680221769889872, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00678296135200236, + "xy_threshold": 0.08, + "gripper_dist": 0.1833283867506715, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395832487571, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07524548161709238, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08653544608147061, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15232340910270056, + "release_required_pad_clearance": 0.05326772304073531, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 1.5551606275204357, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008501231670379639, + "max_z_decrease": 0.008501231670379639, + "final_z_decrease": -5.960464477539063e-08, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506936785213091, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008501231670379639, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 77, + "contact_point_distance": 0.020983965979866515, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008501231670379639, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 77, + "contact_ok": true, + "button_final_displacement": 5.960464477539063e-08, + "button_max_displacement": 0.008502216227297316, + "max_button_displacement": 0.12, + "button_start": [ + 0.18156629800796503, + -0.42428362369537354, + 0.7768088579177856 + ], + "button_final": [ + 0.18156629800796503, + -0.42428362369537354, + 0.7768089175224304 + ], + "closest_ee": [ + 0.18337369325819436, + -0.42311686258958653, + 0.8036763430679331 + ], + "closest_button": [ + 0.18144491314887992, + -0.42426013946533203, + 0.7686787247657776 + ], + "closest_ee_minus_button": [ + 0.0019287801093144374, + 0.0011432768757455025, + 0.03499761830215553 + ], + "button_min_z_position": [ + 0.18143858015537254, + -0.42426291108131403, + 0.768307626247406 + ], + "min_active_finger_to_button": 0.14380808135348683, + "closest_active_finger": [ + 0.057272396981716156, + -0.487905889749527, + 0.8103843331336975 + ], + "closest_active_finger_button": [ + 0.18157276511192316, + -0.42429220676422114, + 0.7759825587272644 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.124300368130207, + -0.06361368298530584, + 0.034401774406433105 + ], + "min_contact_pad_to_button": 0.020983965979866515, + "closest_contact_pad": [ + 0.18143858015537254, + -0.42426291108131403, + 0.7892915922272725 + ], + "closest_contact_pad_button": [ + 0.18143858015537254, + -0.42426291108131403, + 0.768307626247406 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020983965979866515 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 82, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "52d667b350f1bad9bfe3496f22eec8197d285f853b753991b48b647da2ed6cfe", + "visual_seed": 2472235399991314643, + "episode_index": 82, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_83_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_83_success.json new file mode 100644 index 0000000000000000000000000000000000000000..b6e315ad07b400fccf973825a202ddc3783b74ee --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_83_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 83, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.19948611412863787, + -0.02806621654473547, + 0.9952724871070939 + ], + "current_z": 0.9952724871070939, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13868597969852836, + "gripper_z": 0.9982055258315068, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1947065523646599, + -0.03266311159208339, + 0.9982055258315068 + ], + "object_minus_gripper": [ + 0.00477956176397798, + 0.004596895047347921, + -0.002933038724412862 + ], + "object_to_gripper_xy": 0.006631414233179235, + "object_to_gripper_z": -0.002933038724412862, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.19948611412863787, + -0.05237508321726245, + 0.9952724871070939 + ], + "finger_b": [ + 0.18826343680649196, + -0.02806621654473547, + 0.9952724871070939 + ], + "finger_midpoint": [ + 0.19387477546756493, + -0.04022064988099896, + 0.9952724871070939 + ], + "object_minus_finger_midpoint": [ + 0.00561133866107294, + 0.012154433336263488, + 0.0 + ], + "finger_gap": 0.026774418484435864, + "fingertip_max_gap": 0.09182653550236095, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013387209242217925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9952724871070939, + "object_top_z": 1.0408131154714955, + "finger_top_clearance": 0.045540628364401536, + "fingertip_min_top_clearance": 0.013662188509320461, + "object_projection_between_fingers": 0.8243076475134996, + "object_to_finger_line_xy": 0.010189224721777738, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048413267751180475, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3256932716169747, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3436275484051189, + 0.35478893478378726, + 0.7611063888054765 + ], + "gripper_position": [ + 0.3369990831767746, + 0.3196400654843321, + 1.0170613560651263 + ], + "target_minus_gripper": [ + 0.00662846522834426, + 0.035148869299455154, + -0.2559549672596497 + ], + "held_position": [ + 0.3417601649689625, + 0.3241533940398652, + 1.0139715686865338 + ], + "held_minus_target": [ + -0.001867383436156389, + -0.03063554074392205, + 0.2528651798810573 + ], + "held_minus_gripper": [ + 0.004761081792187871, + 0.004513328555533103, + -0.0030897873785924457 + ], + "xy_dist": 0.03576841573670198, + "held_xy_dist": 0.030692400974347694, + "held_gripper_dist": 0.007251539183304643, + "max_held_gripper_dist": 0.00725874986200846, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0139715686865338, + "required_height": 0.7911063888054766, + "gripper_z": 1.0170613560651263, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1987140328274, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.629890867467335, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1646780211229464, + "max_source_tilt_deg": 89.9654678708729, + "source_upright_tilt_deg": 2.8453082975175867, + "max_source_upright_tilt_deg": 89.84303562053066, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1646780211229464, + "source_upright_return_tilt_deg": 2.8453082975175867, + "missing_source_orientation_samples": 0, + "target_xy_drift": 6.664001874625056e-08, + "max_target_xy_drift": 1.228781230931777e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3436, + 0.3548, + 0.7611 + ], + "controller_target_position": [ + 0.3436, + 0.3548, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.001, + -0.0004, + 0.0009 + ], + "controller_last_pour_pose_position": [ + 0.3446, + 0.329, + 1.0274 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0681, + 0.0657, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009831873918174556, + -0.00041328234823622616, + 0.0009010539002420161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.845322074430846, + "source_return_step_error_deg": 2.164712015039318, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.849868960801013, + "source_return_best_wrist_position": -1.6125285625457764, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6125285625457764 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3436, + 0.3548, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3436, + 0.3548, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.001, + -0.0004, + 0.0009 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3446, + 0.329, + 1.0274 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0681, + 0.0657, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0009831873918174556, + -0.00041328234823622616, + 0.0009010539002420161 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.845322074430846, + "pour_controller_source_return_step_error_deg": 2.164712015039318, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.849868960801013, + "pour_controller_source_return_best_wrist_position": -1.6125285625457764, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6125285625457764, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03576841573670198, + "valid_pour_held_xy_dist": 0.030692400974347694, + "valid_pour_held_gripper_dist": 0.007251539183304643, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0139715686865338, + "valid_pour_source_tilt_deg": 2.1646780211229464, + "valid_pour_source_upright_tilt_deg": 2.8453082975175867, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 6.664001874625056e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3417601649689625, + 0.3005700830591986, + 1.0139715686865338 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33041167697574647, + 0.3241533940398652, + 1.0139715686865338 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33608592097235446, + 0.31236173854953186, + 1.0139715686865338 + ], + "valid_pour_held_grasp_object_position": [ + 0.3417601649689625, + 0.3241533940398652, + 1.0139715686865338 + ], + "valid_pour_held_grasp_finger_gap": 0.026171754556066726, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0239139803752516, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.03169962046773271, + -0.9987672058555971, + 0.03819951007022404 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.006061685928087317, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03360297754045254, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3417601649689625, + 0.3005700830591986, + 1.0139715686865338 + ], + "held_grasp_finger_b": [ + 0.33041167697574647, + 0.3241533940398652, + 1.0139715686865338 + ], + "held_grasp_midpoint": [ + 0.33608592097235446, + 0.31236173854953186, + 1.0139715686865338 + ], + "held_grasp_object_position": [ + 0.3417601649689625, + 0.3241533940398652, + 1.0139715686865338 + ], + "held_grasp_finger_gap": 0.026171754556066726, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0239139803752516, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.03169962046773271, + -0.9987672058555971, + 0.03819951007022404 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.006061685928087317, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03360297754045254, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17882334022659, + -0.03243606695299382, + 0.7565870495865741 + ], + "target_position": [ + 0.17810545542182665, + -0.030512369438415142, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0020532829129241525, + "xy_threshold": 0.08, + "gripper_dist": 0.2150464514724882, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565870495865741, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07583861967684488, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09231143209970775, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1853554829808212, + "release_required_pad_clearance": 0.05615571604985388, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 7.585223185367226, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 296, + "max_placed_release_frames": 296 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35232249125953563, + 0.350715837504446, + 1.1630889946145992 + ], + "current_z": 1.1630889946145992, + "required_z": 0.8611064484101213, + "initial_z": 0.7611064484101213, + "lift_margin": 0.30198254620447795, + "gripper_z": 1.1518848329933085, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34758351653044045, + 0.3461529416542757, + 1.1518848329933085 + ], + "object_minus_gripper": [ + 0.00473897472909518, + 0.004562895850170334, + 0.011204161621290787 + ], + "object_to_gripper_xy": 0.006578594076434903, + "object_to_gripper_z": 0.011204161621290787, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35232249125953563, + 0.32671534036691063, + 1.1630889946145992 + ], + "finger_b": [ + 0.34197081143996544, + 0.350715837504446, + 1.1630889946145992 + ], + "finger_midpoint": [ + 0.34714665134975053, + 0.3387155889356783, + 1.1630889946145992 + ], + "object_minus_finger_midpoint": [ + 0.005175839909785096, + 0.01200024856876769, + 0.0 + ], + "finger_gap": 0.026137733986245647, + "fingertip_max_gap": 0.0906267156933516, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013068866993122824, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1630889946145992, + "object_top_z": 1.2130718957629378, + "finger_top_clearance": 0.04998290114833859, + "fingertip_min_top_clearance": 0.014994870344501608, + "object_projection_between_fingers": 0.8431495409684806, + "object_to_finger_line_xy": 0.009505241043811046, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0478133578466758, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3666305218095052, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 375, + "max_stable_success_frames": 375, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3369991634637114, + -0.3683256184777246, + 0.85153958409934 + ], + "target_position": [ + 0.3292453798592145, + -0.3700807961172999, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007949956523895596, + "xy_threshold": 0.08, + "gripper_dist": 0.18259586748511625, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.85153958409934, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07563254463971518, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08907524794433057, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15059497243468223, + "release_required_pad_clearance": 0.054537623972165286, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 4.109046163285147, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008641302585601807, + "max_z_decrease": 0.008641302585601807, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0349896715930892, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008641302585601807, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021065636282932846, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008641302585601807, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008641455992546156, + "max_button_displacement": 0.12, + "button_start": [ + 0.1849453002214431, + -0.42634224891662603, + 0.7768088579177856 + ], + "button_final": [ + 0.1849453002214431, + -0.42634224891662603, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18425786504750863, + -0.42596607430223193, + 0.8031495638219285 + ], + "closest_button": [ + 0.18490184843540186, + -0.42631462216377264, + 0.7681675553321838 + ], + "closest_ee_minus_button": [ + -0.0006439833878932322, + 0.0003485478615407045, + 0.03498200848974464 + ], + "button_min_z_position": [ + 0.18490184843540186, + -0.42631462216377264, + 0.7681675553321838 + ], + "min_active_finger_to_button": 0.146387932499803, + "closest_active_finger": [ + 0.057264819741249084, + -0.4890174865722656, + 0.8086357116699219 + ], + "closest_active_finger_button": [ + 0.1849499493837356, + -0.4263480603694916, + 0.7740166783332825 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12768512964248652, + -0.06266942620277405, + 0.034619033336639404 + ], + "min_contact_pad_to_button": 0.021065636282932846, + "closest_contact_pad": [ + 0.18490184843540186, + -0.4271409788500203, + 0.7892169773345076 + ], + "closest_contact_pad_button": [ + 0.18490184843540186, + -0.42631462216377264, + 0.7681675553321838 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0008263566862476424, + 0.021049422002323737 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 83, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "60bf042840c217ccc0f6e4898d5679601613ee3523600e1ea7278e5ffffc85e6", + "visual_seed": 8328355619466679829, + "episode_index": 83, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_84_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_84_success.json new file mode 100644 index 0000000000000000000000000000000000000000..ae6284c55b1cdf62173f4831e73d25b839f92b17 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_84_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 84, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20221806707995268, + -0.033449925973649035, + 0.9954651931911327 + ], + "current_z": 0.9954651931911327, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13887868578256712, + "gripper_z": 0.9985809569034219, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1973779366103251, + -0.038064923855129384, + 0.9985809569034219 + ], + "object_minus_gripper": [ + 0.004840130469627585, + 0.00461499788148035, + -0.0031157637122891657 + ], + "object_to_gripper_xy": 0.0066876803459110885, + "object_to_gripper_z": -0.0031157637122891657, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20221806707995268, + -0.05782099332480007, + 0.9954651931911327 + ], + "finger_b": [ + 0.1909951132404772, + -0.033449925973649035, + 0.9954651931911327 + ], + "finger_midpoint": [ + 0.19660659016021492, + -0.04563545964922455, + 0.9954651931911327 + ], + "object_minus_finger_midpoint": [ + 0.005611476919737762, + 0.012185533675575518, + 0.0 + ], + "finger_gap": 0.026831019673455157, + "fingertip_max_gap": 0.09185519742223663, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013415509836727586, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9954651931911327, + "object_top_z": 1.0410019728635023, + "finger_top_clearance": 0.045536779672369576, + "fingertip_min_top_clearance": 0.013661033901710872, + "object_projection_between_fingers": 0.825039505347488, + "object_to_finger_line_xy": 0.010193998112241491, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842759871111832, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3500148554722338, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34395674485821326, + 0.34894198735222287, + 0.7611063888054763 + ], + "gripper_position": [ + 0.33702234118127533, + 0.313858661849289, + 1.0169629146572732 + ], + "target_minus_gripper": [ + 0.006934403676937928, + 0.03508332550293386, + -0.25585652585179686 + ], + "held_position": [ + 0.34186220666898925, + 0.31836484680121047, + 1.0136900312286086 + ], + "held_minus_target": [ + -0.0020945381892240045, + -0.030577140551012405, + 0.25258364242313225 + ], + "held_minus_gripper": [ + 0.0048398654877139236, + 0.004506184951921455, + -0.003272883428664608 + ], + "xy_dist": 0.03576207044760607, + "held_xy_dist": 0.030648794666389166, + "held_gripper_dist": 0.00737846641909517, + "max_held_gripper_dist": 0.007384916471020487, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0136900312286086, + "required_height": 0.7911063888054763, + "gripper_z": 1.0169629146572732, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19680841004897, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.7799232608751192, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.158721208128865, + "max_source_tilt_deg": 89.70526570004279, + "source_upright_tilt_deg": 2.7329266558711707, + "max_source_upright_tilt_deg": 89.5797542593421, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.158721208128865, + "source_upright_return_tilt_deg": 2.7329266558711707, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.344, + 0.3489, + 0.7611 + ], + "controller_target_position": [ + 0.344, + 0.3489, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0001, + 0.0005, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.344, + 0.3241, + 1.0268 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.339433047032261e-05, + 0.0004986258342262405, + 0.00034489439767842155 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.7329404853398103, + "source_return_step_error_deg": 2.1587674707417737, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.73256695170615, + "source_return_best_wrist_position": -1.6124588251113892, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6124588251113892 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.344, + 0.3489, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.344, + 0.3489, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0001, + 0.0005, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.344, + 0.3241, + 1.0268 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0679, + 0.0655, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 7.339433047032261e-05, + 0.0004986258342262405, + 0.00034489439767842155 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.7329404853398103, + "pour_controller_source_return_step_error_deg": 2.1587674707417737, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.73256695170615, + "pour_controller_source_return_best_wrist_position": -1.6124588251113892, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6124588251113892, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03576207044760607, + "valid_pour_held_xy_dist": 0.030648794666389166, + "valid_pour_held_gripper_dist": 0.00737846641909517, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0136900312286086, + "valid_pour_source_tilt_deg": 2.158721208128865, + "valid_pour_source_upright_tilt_deg": 2.7329266558711707, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34186220666898925, + 0.29466636237720495, + 1.0136900312286086 + ], + "valid_pour_held_grasp_finger_b": [ + 0.33059684134046025, + 0.31836484680121047, + 1.0136900312286086 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3362295240047247, + 0.3065156045892077, + 1.0136900312286086 + ], + "valid_pour_held_grasp_object_position": [ + 0.34186220666898925, + 0.31836484680121047, + 1.0136900312286086 + ], + "valid_pour_held_grasp_finger_gap": 0.026239790776224868, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02399180145172242, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.028429661167453803, + -0.9988626491458898, + 0.03827744123055832 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005984255532037937, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03352459475916723, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34186220666898925, + 0.29466636237720495, + 1.0136900312286086 + ], + "held_grasp_finger_b": [ + 0.33059684134046025, + 0.31836484680121047, + 1.0136900312286086 + ], + "held_grasp_midpoint": [ + 0.3362295240047247, + 0.3065156045892077, + 1.0136900312286086 + ], + "held_grasp_object_position": [ + 0.34186220666898925, + 0.31836484680121047, + 1.0136900312286086 + ], + "held_grasp_finger_gap": 0.026239790776224868, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02399180145172242, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.028429661167453803, + -0.9988626491458898, + 0.03827744123055832 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005984255532037937, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03352459475916723, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18794402171275545, + -0.03763929882088918, + 0.7565890666368412 + ], + "target_position": [ + 0.18072633571637656, + -0.0351015325990358, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.0076508331924767525, + "xy_threshold": 0.08, + "gripper_dist": 0.2217723584679261, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565890666368412, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07577260692277904, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.09082901086360538, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19133422592282762, + "release_required_pad_clearance": 0.055414505431802694, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 5.9530166919388465, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.35282111608872324, + 0.3449198410813759, + 1.1654685578057535 + ], + "current_z": 1.1654685578057535, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.30436216900027724, + "gripper_z": 1.1543381968319288, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34804051486933346, + 0.340240646123002, + 1.1543381968319288 + ], + "object_minus_gripper": [ + 0.0047806012193897796, + 0.004679194958373933, + 0.011130360973824693 + ], + "object_to_gripper_xy": 0.006689470343555092, + "object_to_gripper_z": 0.011130360973824693, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.35282111608872324, + 0.32101071102946505, + 1.1654685578057535 + ], + "finger_b": [ + 0.34214210511471654, + 0.3449198410813759, + 1.1654685578057535 + ], + "finger_midpoint": [ + 0.3474816106017199, + 0.3329652760554205, + 1.1654685578057535 + ], + "object_minus_finger_midpoint": [ + 0.005339505487003349, + 0.011954565025955433, + 0.0 + ], + "finger_gap": 0.026185640630355844, + "fingertip_max_gap": 0.0905216969325737, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013092820315177922, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1654685578057535, + "object_top_z": 1.2153793268438546, + "finger_top_clearance": 0.0499107690381011, + "fingertip_min_top_clearance": 0.014973230711430328, + "object_projection_between_fingers": 0.8336833767438695, + "object_to_finger_line_xy": 0.009750605906785484, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04776084846628685, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.37931102610573103, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.33509853600160405, + -0.36410398284588524, + 0.8515395842740354 + ], + "target_position": [ + 0.32880080789700356, + -0.36535292683808385, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006420376965188567, + "xy_threshold": 0.08, + "gripper_dist": 0.18133929989038047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395842740354, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0757757144521808, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08561210448034189, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.14895239186125636, + "release_required_pad_clearance": 0.052806052240170945, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6584884458485679, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008348822593688965, + "max_z_decrease": 0.008348822593688965, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501999350623874, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008348822593688965, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021107389029092594, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008348822593688965, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008349589992118414, + "max_button_displacement": 0.12, + "button_start": [ + 0.1845007389783859, + -0.42161437869071966, + 0.7768088579177856 + ], + "button_final": [ + 0.1845007389783859, + -0.42161437869071966, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18320548152432017, + -0.420000742915202, + 0.80379024859372 + ], + "closest_button": [ + 0.18438944220542908, + -0.4215686619281769, + 0.7688254117965698 + ], + "closest_ee_minus_button": [ + -0.0011839606811089032, + 0.0015679190129748721, + 0.03496483679715012 + ], + "button_min_z_position": [ + 0.18439197540283203, + -0.42158299684524536, + 0.7684600353240967 + ], + "min_active_finger_to_button": 0.14640987641746525, + "closest_active_finger": [ + 0.055984944105148315, + -0.4825640916824341, + 0.8108341693878174 + ], + "closest_active_finger_button": [ + 0.1845050305128097, + -0.42162027955055237, + 0.776131272315979 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12852008640766138, + -0.060943812131881714, + 0.03470289707183838 + ], + "min_contact_pad_to_button": 0.021107389029092594, + "closest_contact_pad": [ + 0.18439197540283203, + -0.42158299684524536, + 0.7895674243531893 + ], + "closest_contact_pad_button": [ + 0.18439197540283203, + -0.42158299684524536, + 0.7684600353240967 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021107389029092594 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 84, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "1f85cc5711f4070d7dbfae0bd15e2c550d7a534ea1774caad8050ecfb15b2850", + "visual_seed": 1872776997675302322, + "episode_index": 84, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_85_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_85_success.json new file mode 100644 index 0000000000000000000000000000000000000000..0237a0cd8683e272041001979e1c3f93653be6a4 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_85_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 85, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20048849713603287, + -0.032397598097589526, + 0.9983831986625751 + ], + "current_z": 0.9983831986625751, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.1417966912540095, + "gripper_z": 1.0013724201575271, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19581209476048364, + -0.036940590053045494, + 1.0013724201575271 + ], + "object_minus_gripper": [ + 0.004676402375549227, + 0.0045429919554559675, + -0.0029892214949520657 + ], + "object_to_gripper_xy": 0.0065197787604626654, + "object_to_gripper_z": -0.0029892214949520657, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20048849713603287, + -0.05665383478893606, + 0.9983831986625751 + ], + "finger_b": [ + 0.18933200674531148, + -0.032397598097589526, + 0.9983831986625751 + ], + "finger_midpoint": [ + 0.19491025194067219, + -0.044525716443262794, + 0.9983831986625751 + ], + "object_minus_finger_midpoint": [ + 0.0055782451953606815, + 0.012128118345673268, + 0.0 + ], + "finger_gap": 0.026698919383841824, + "fingertip_max_gap": 0.09166214579391838, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013349459691920907, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9983831986625751, + "object_top_z": 1.0438437615257694, + "finger_top_clearance": 0.04546056286319433, + "fingertip_min_top_clearance": 0.0136381688589583, + "object_projection_between_fingers": 0.825390518232065, + "object_to_finger_line_xy": 0.010135783687404483, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04833107289695919, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3242961029448597, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3349251510586223, + 0.35708070357307875, + 0.7611064484101211 + ], + "gripper_position": [ + 0.32391708946888687, + 0.319982659523307, + 1.0201588266062402 + ], + "target_minus_gripper": [ + 0.01100806158973544, + 0.03709804404977174, + -0.25905237819611915 + ], + "held_position": [ + 0.3286392659692394, + 0.32439283058210244, + 1.0170433560618464 + ], + "held_minus_target": [ + -0.006285885089382881, + -0.03268787299097631, + 0.2559369076517253 + ], + "held_minus_gripper": [ + 0.0047221765003525595, + 0.004410171058795431, + -0.0031154705443938724 + ], + "xy_dist": 0.03869679950954876, + "held_xy_dist": 0.03328677503200219, + "held_gripper_dist": 0.00717319429412759, + "max_held_gripper_dist": 0.0071793431841468205, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0170433560618464, + "required_height": 0.7911064484101211, + "gripper_z": 1.0201588266062402, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.18697976783332, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.6096241180537922, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1816110616174713, + "max_source_tilt_deg": 89.76197881559251, + "source_upright_tilt_deg": 2.469287525666733, + "max_source_upright_tilt_deg": 89.57273696067551, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1816110616174713, + "source_upright_return_tilt_deg": 2.469287525666733, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 2.5636927089222153e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3349, + 0.3571, + 0.7611 + ], + "controller_target_position": [ + 0.3349, + 0.3571, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0015, + -0.002, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3335, + 0.3298, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.065, + 0.0937 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014513489679524691, + -0.001973138328689294, + -0.0001207436751663887 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.469285233043935, + "source_return_step_error_deg": 2.1816250200777714, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.473520666016085, + "source_return_best_wrist_position": -1.6126543283462524, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6126543283462524 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3349, + 0.3571, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3349, + 0.3571, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0015, + -0.002, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3335, + 0.3298, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.065, + 0.0937 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0014513489679524691, + -0.001973138328689294, + -0.0001207436751663887 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.469285233043935, + "pour_controller_source_return_step_error_deg": 2.1816250200777714, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.473520666016085, + "pour_controller_source_return_best_wrist_position": -1.6126543283462524, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6126543283462524, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03869679950954876, + "valid_pour_held_xy_dist": 0.03328677503200219, + "valid_pour_held_gripper_dist": 0.00717319429412759, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0170433560618464, + "valid_pour_source_tilt_deg": 2.1816110616174713, + "valid_pour_source_upright_tilt_deg": 2.469287525666733, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3286392659692394, + 0.3006995699274573, + 1.0170433560618464 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3176594566736166, + 0.32439283058210244, + 1.0170433560618464 + ], + "valid_pour_held_grasp_midpoint": [ + 0.323149361321428, + 0.31254620025477986, + 1.0170433560618464 + ], + "valid_pour_held_grasp_object_position": [ + 0.3286392659692394, + 0.32439283058210244, + 1.0170433560618464 + ], + "valid_pour_held_grasp_finger_gap": 0.026113728431941728, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023900876701768253, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.020912563683567725, + -0.9990714695488423, + 0.03766780340951015 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005753609794041934, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03347940257605479, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3286392659692394, + 0.3006995699274573, + 1.0170433560618464 + ], + "held_grasp_finger_b": [ + 0.3176594566736166, + 0.32439283058210244, + 1.0170433560618464 + ], + "held_grasp_midpoint": [ + 0.323149361321428, + 0.31254620025477986, + 1.0170433560618464 + ], + "held_grasp_object_position": [ + 0.3286392659692394, + 0.32439283058210244, + 1.0170433560618464 + ], + "held_grasp_finger_gap": 0.026113728431941728, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023900876701768253, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.020912563683567725, + -0.9990714695488423, + 0.03766780340951015 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005753609794041934, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03347940257605479, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18704949349844383, + -0.02681393601152364, + 0.756586435790135 + ], + "target_position": [ + 0.17826497210945993, + -0.03334444899105127, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.01094602283065837, + "xy_threshold": 0.08, + "gripper_dist": 0.22063304317603838, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.756586435790135, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07535232788854936, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08770868727165733, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1928412304056388, + "release_required_pad_clearance": 0.053854343635828666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 2.717958655934304, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 294, + "max_placed_release_frames": 294 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3437764877692487, + 0.35276340392976757, + 1.1635969720344703 + ], + "current_z": 1.1635969720344703, + "required_z": 0.8611064484101211, + "initial_z": 0.7611064484101211, + "lift_margin": 0.30249052362434925, + "gripper_z": 1.1525481731123022, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3389202359113336, + 0.34800386467266387, + 1.1525481731123022 + ], + "object_minus_gripper": [ + 0.004856251857915106, + 0.0047595392571037065, + 0.011048798922168146 + ], + "object_to_gripper_xy": 0.006799734998322745, + "object_to_gripper_z": 0.011048798922168146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3437764877692487, + 0.3288416179877439, + 1.1635969720344703 + ], + "finger_b": [ + 0.33293436135584975, + 0.35276340392976757, + 1.1635969720344703 + ], + "finger_midpoint": [ + 0.3383554245625492, + 0.34080251095875574, + 1.1635969720344703 + ], + "object_minus_finger_midpoint": [ + 0.005421063206699495, + 0.011960892971011827, + 0.0 + ], + "finger_gap": 0.0262641114035888, + "fingertip_max_gap": 0.0904346972273222, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013132055701794413, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1635969720344703, + "object_top_z": 1.213416146674797, + "finger_top_clearance": 0.0498191746403267, + "fingertip_min_top_clearance": 0.01494575239209801, + "object_projection_between_fingers": 0.8295866909707802, + "object_to_finger_line_xy": 0.00987518759847515, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.0477173486136611, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3329386032379079, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3272454777596672, + -0.3640563991906469, + 0.8515395580742388 + ], + "target_position": [ + 0.3203661016609085, + -0.3651080452028406, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006959294133971895, + "xy_threshold": 0.08, + "gripper_dist": 0.18348770362290015, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395580742388, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07538240242295864, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08557003746905754, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15189257367303616, + "release_required_pad_clearance": 0.052785018734528774, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6180208356297381, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008431315422058105, + "max_z_decrease": 0.008431315422058105, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502666868638556, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008431315422058105, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021071153786769492, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008431315422058105, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008431960821189742, + "max_button_displacement": 0.12, + "button_start": [ + 0.17606602609157557, + -0.4213694930076599, + 0.7768088579177856 + ], + "button_final": [ + 0.17606602609157557, + -0.4213694930076599, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1761060703053422, + -0.41957834437377506, + 0.8037297823944383 + ], + "closest_button": [ + 0.17596511542797083, + -0.4213344752788544, + 0.7687474489212036 + ], + "closest_ee_minus_button": [ + 0.0001409548773713687, + 0.0017561309050793672, + 0.03498233347323465 + ], + "button_min_z_position": [ + 0.17596440017223353, + -0.4213459193706513, + 0.7683775424957275 + ], + "min_active_finger_to_button": 0.14516842523762433, + "closest_active_finger": [ + 0.0482785701751709, + -0.48090505599975586, + 0.8091496229171753 + ], + "closest_active_finger_button": [ + 0.17607942223548884, + -0.42137879133224493, + 0.7745456099510193 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12780085206031794, + -0.05952626466751093, + 0.034604012966156006 + ], + "min_contact_pad_to_button": 0.021071153786769492, + "closest_contact_pad": [ + 0.17596440017223353, + -0.4213459193706513, + 0.789448696282497 + ], + "closest_contact_pad_button": [ + 0.17596440017223353, + -0.4213459193706513, + 0.7683775424957275 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021071153786769492 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 85, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "e7d75960ae9bfd81cbddac95dca13bdba1d1cf0002a0cf95a89b4bd4e576f7de", + "visual_seed": 6813410377105939338, + "episode_index": 85, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_86_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_86_success.json new file mode 100644 index 0000000000000000000000000000000000000000..2c5eb37c40a3de5950c899268b6b382080cc160d --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_86_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 86, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20037909287470432, + -0.029391529579597758, + 0.9987207048442956 + ], + "current_z": 0.9987207048442956, + "required_z": 0.8565864478039208, + "initial_z": 0.7565864478039208, + "lift_margin": 0.14213425704037486, + "gripper_z": 1.0018857775216028, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1957416353609611, + -0.03404211733366769, + 1.0018857775216028 + ], + "object_minus_gripper": [ + 0.004637457513743226, + 0.004650587754069929, + -0.003165072677307146 + ], + "object_to_gripper_xy": 0.006567646355436527, + "object_to_gripper_z": -0.003165072677307146, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20037909287470432, + -0.05343950695079605, + 0.9987207048442956 + ], + "finger_b": [ + 0.18873604284178658, + -0.029391529579597758, + 0.9987207048442956 + ], + "finger_midpoint": [ + 0.19455756785824546, + -0.041415518265196904, + 0.9987207048442956 + ], + "object_minus_finger_midpoint": [ + 0.005821525016458856, + 0.012023988685599146, + 0.0 + ], + "finger_gap": 0.026718267715454363, + "fingertip_max_gap": 0.09138793196702177, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013359133857727174, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9987207048442956, + "object_top_z": 1.04400557725247, + "finger_top_clearance": 0.04528487240817425, + "fingertip_min_top_clearance": 0.013585461722452273, + "object_projection_between_fingers": 0.8101035118557154, + "object_to_finger_line_xy": 0.010479414560300356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04819396598351089, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3497906633445216, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3405592801060161, + 0.3551261778639265, + 0.7611064484101211 + ], + "gripper_position": [ + 0.3337321628210904, + 0.3210948726351867, + 1.0178436808769151 + ], + "target_minus_gripper": [ + 0.006827117284925688, + 0.03403130522873976, + -0.25673723246679403 + ], + "held_position": [ + 0.33850546542506543, + 0.32552620210560307, + 1.0145674848641884 + ], + "held_minus_target": [ + -0.002053814680950672, + -0.029599975758323405, + 0.25346103645406726 + ], + "held_minus_gripper": [ + 0.004773302603975016, + 0.004431329470416356, + -0.003276196012726773 + ], + "xy_dist": 0.03470935415696727, + "held_xy_dist": 0.029671142877163017, + "held_gripper_dist": 0.007290717313015365, + "max_held_gripper_dist": 0.00729617934462239, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611064484101211, + "held_z": 1.0145674848641884, + "required_height": 0.7911064484101211, + "gripper_z": 1.0178436808769151, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20360444827313, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.6839442134015032, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2201047350215153, + "max_source_tilt_deg": 89.64404542836282, + "source_upright_tilt_deg": 2.170545467563673, + "max_source_upright_tilt_deg": 89.9708698499021, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2201047350215153, + "source_upright_return_tilt_deg": 2.170545467563673, + "missing_source_orientation_samples": 0, + "target_xy_drift": 4.2146848510894035e-08, + "max_target_xy_drift": 6.86100985599836e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3406, + 0.3551, + 0.7611 + ], + "controller_target_position": [ + 0.3406, + 0.3551, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.001, + 0.0018, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3395, + 0.3316, + 1.0283 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0663, + 0.0639, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010423020819208578, + 0.0018375210404915224, + 0.001826348459093274 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.1705603919127943, + "source_return_step_error_deg": 2.2201254794257723, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2270121290035085, + "source_return_best_wrist_position": -1.6128774881362915, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128774881362915 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3406, + 0.3551, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3406, + 0.3551, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.001, + 0.0018, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3395, + 0.3316, + 1.0283 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0663, + 0.0639, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010423020819208578, + 0.0018375210404915224, + 0.001826348459093274 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.1705603919127943, + "pour_controller_source_return_step_error_deg": 2.2201254794257723, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2270121290035085, + "pour_controller_source_return_best_wrist_position": -1.6128774881362915, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128774881362915, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03470935415696727, + "valid_pour_held_xy_dist": 0.029671142877163017, + "valid_pour_held_gripper_dist": 0.007290717313015365, + "valid_pour_required_height": 0.7911064484101211, + "valid_pour_held_z": 1.0145674848641884, + "valid_pour_source_tilt_deg": 2.2201047350215153, + "valid_pour_source_upright_tilt_deg": 2.170545467563673, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 4.2146848510894035e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33850546542506543, + 0.3017910645055285, + 1.0145674848641884 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3274734680600944, + 0.32552620210560307, + 1.0145674848641884 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3329894667425799, + 0.31365863330556576, + 1.0145674848641884 + ], + "valid_pour_held_grasp_object_position": [ + 0.33850546542506543, + 0.32552620210560307, + 1.0145674848641884 + ], + "valid_pour_held_grasp_finger_gap": 0.026173683782669963, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02375613566067381, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.0034470040072098326, + -0.9992825287633772, + 0.03771665244483512 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.00557484276506996, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03336018447459845, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33850546542506543, + 0.3017910645055285, + 1.0145674848641884 + ], + "held_grasp_finger_b": [ + 0.3274734680600944, + 0.32552620210560307, + 1.0145674848641884 + ], + "held_grasp_midpoint": [ + 0.3329894667425799, + 0.31365863330556576, + 1.0145674848641884 + ], + "held_grasp_object_position": [ + 0.33850546542506543, + 0.32552620210560307, + 1.0145674848641884 + ], + "held_grasp_finger_gap": 0.026173683782669963, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02375613566067381, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.0034470040072098326, + -0.9992825287633772, + 0.03771665244483512 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.00557484276506996, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03336018447459845, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18529472726130033, + -0.02516779315738351, + 0.7565866063574933 + ], + "target_position": [ + 0.17548805790757804, + -0.03198405154202763, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.011942869930609949, + "xy_threshold": 0.08, + "gripper_dist": 0.22409264757377026, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565866063574933, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07556639460289884, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08565200982597392, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19564119033755817, + "release_required_pad_clearance": 0.05282600491298696, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.6966091380896176, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 261, + "max_placed_release_frames": 261 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3494624956078508, + 0.35276563897832885, + 1.1628273309793458 + ], + "current_z": 1.1628273309793458, + "required_z": 0.8611065676194106, + "initial_z": 0.7611065676194106, + "lift_margin": 0.30172076335993514, + "gripper_z": 1.151698761455238, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3448178446850694, + 0.3480357610295631, + 1.151698761455238 + ], + "object_minus_gripper": [ + 0.004644650922781435, + 0.004729877948765782, + 0.011128569524107679 + ], + "object_to_gripper_xy": 0.006629066872849846, + "object_to_gripper_z": 0.011128569524107679, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3494624956078508, + 0.32917548386219364, + 1.1628273309793458 + ], + "finger_b": [ + 0.3384121801189696, + 0.35276563897832885, + 1.1628273309793458 + ], + "finger_midpoint": [ + 0.3439373378634102, + 0.3409705614202613, + 1.1628273309793458 + ], + "object_minus_finger_midpoint": [ + 0.005525157744440623, + 0.01179507755806758, + 0.0 + ], + "finger_gap": 0.02605004588877202, + "fingertip_max_gap": 0.09050159149935252, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013025022944385997, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1628273309793458, + "object_top_z": 1.2127383731826007, + "finger_top_clearance": 0.04991104220325493, + "fingertip_min_top_clearance": 0.014973312660976477, + "object_projection_between_fingers": 0.8200580719974307, + "object_to_finger_line_xy": 0.01000684058592374, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047750795749676264, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.36521414893953535, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3348083142292857, + -0.3619920049820872, + 0.851539670650045 + ], + "target_position": [ + 0.32790724114526804, + -0.3629443070776621, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006966468904128502, + "xy_threshold": 0.08, + "gripper_dist": 0.18362274259302047, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539670650045, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575145834329204, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0870784190747083, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1511249941193137, + "release_required_pad_clearance": 0.05353920953735415, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 2.0898532821414784, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008488118648529053, + "max_z_decrease": 0.008488118648529053, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501989403580031, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008488118648529053, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.021123125359125156, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008488118648529053, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008488672280440914, + "max_button_displacement": 0.12, + "button_start": [ + 0.18360716104507444, + -0.41920575499534607, + 0.7768088579177856 + ], + "button_final": [ + 0.18360716104507444, + -0.41920575499534607, + 0.7768088579177856 + ], + "closest_ee": [ + 0.1847377421138493, + -0.42000666043314233, + 0.8046373932099372 + ], + "closest_button": [ + 0.18351440131664276, + -0.41921460628509527, + 0.7696478366851807 + ], + "closest_ee_minus_button": [ + 0.0012233407972065402, + -0.0007920541480470611, + 0.03498955652475655 + ], + "button_min_z_position": [ + 0.18351039290428156, + -0.41921165585517883, + 0.7683207392692566 + ], + "min_active_finger_to_button": 0.14484329985240088, + "closest_active_finger": [ + 0.04370102286338806, + -0.40492555499076843, + 0.8095051646232605 + ], + "closest_active_finger_button": [ + 0.18361525237560267, + -0.419212818145752, + 0.7748718857765198 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.1399142295122146, + 0.014287263154983576, + 0.03463327884674072 + ], + "min_contact_pad_to_button": 0.021123125359125156, + "closest_contact_pad": [ + 0.1835221499204635, + -0.42114391763785924, + 0.789724417362184 + ], + "closest_contact_pad_button": [ + 0.1835221499204635, + -0.4192160367965699, + 0.7686894536018372 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0019278808412893644, + 0.02103496376034686 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 86, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "13dad8b895d2a24583873d50d74b3403b134554f7a0410909c0ba2965243756f", + "visual_seed": 3938263156864451265, + "episode_index": 86, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_87_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_87_success.json new file mode 100644 index 0000000000000000000000000000000000000000..014ac634caca6818b17362d5fa5e78e7248ccb8b --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_87_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 87, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20489675471961202, + -0.029101073393914625, + 0.9963398172280362 + ], + "current_z": 0.9963398172280362, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.13975330981947065, + "gripper_z": 0.9997387823557978, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.20026526038403478, + -0.03375439191109189, + 0.9997387823557978 + ], + "object_minus_gripper": [ + 0.0046314943355772464, + 0.004653318517177266, + -0.0033989651277616106 + ], + "object_to_gripper_xy": 0.006565372266885478, + "object_to_gripper_z": -0.0033989651277616106, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20489675471961202, + -0.053079130123825945, + 0.9963398172280362 + ], + "finger_b": [ + 0.19326737089282595, + -0.029101073393914625, + 0.9963398172280362 + ], + "finger_midpoint": [ + 0.19908206280621898, + -0.04109010175887028, + 0.9963398172280362 + ], + "object_minus_finger_midpoint": [ + 0.005814691913393039, + 0.011989028364955658, + 0.0 + ], + "finger_gap": 0.026649385972918008, + "fingertip_max_gap": 0.09190548007247726, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013324692986459002, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9963398172280362, + "object_top_z": 1.0416947323030927, + "finger_top_clearance": 0.04535491507505651, + "fingertip_min_top_clearance": 0.013606474522516936, + "object_projection_between_fingers": 0.8095684092011668, + "object_to_finger_line_xy": 0.010463656664208556, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04845274003623863, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.695173321749859, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34129760284084887, + 0.3524016793535657, + 0.7611063888054763 + ], + "gripper_position": [ + 0.33563454792537684, + 0.3175151233013418, + 1.0179205390206796 + ], + "target_minus_gripper": [ + 0.005663054915472032, + 0.034886556052223905, + -0.25681415021520326 + ], + "held_position": [ + 0.3403852407194806, + 0.32193455008265415, + 1.0143764220108569 + ], + "held_minus_target": [ + -0.0009123621213682487, + -0.030467129270911553, + 0.25327003320538055 + ], + "held_minus_gripper": [ + 0.0047506927941037835, + 0.004419426781312352, + -0.0035441170098227115 + ], + "xy_dist": 0.03534320279998139, + "held_xy_dist": 0.03048078690996909, + "held_gripper_dist": 0.007393319990278058, + "max_held_gripper_dist": 0.007398289879830994, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054763, + "held_z": 1.0143764220108569, + "required_height": 0.7911063888054763, + "gripper_z": 1.0179205390206796, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19393973059756, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.9346656088838486, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.1638544283328223, + "max_source_tilt_deg": 89.6728090840931, + "source_upright_tilt_deg": 2.34331336677266, + "max_source_upright_tilt_deg": 89.87893732036626, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.1638544283328223, + "source_upright_return_tilt_deg": 2.34331336677266, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.4901161193847656e-07, + "max_target_xy_drift": 1.519626234052415e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3413, + 0.3524, + 0.7611 + ], + "controller_target_position": [ + 0.3413, + 0.3524, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0013, + 0.0003, + 0.0018 + ], + "controller_last_pour_pose_position": [ + 0.3426, + 0.3272, + 1.0284 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0666, + 0.0645, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012827944113171373, + 0.00031256546416591046, + 0.0017962047733757788 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3433058229245676, + "source_return_step_error_deg": 2.1638663666968756, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.343843034866341, + "source_return_best_wrist_position": -1.6122961044311523, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6122961044311523 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3413, + 0.3524, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3413, + 0.3524, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + 0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0013, + 0.0003, + 0.0018 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3426, + 0.3272, + 1.0284 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0666, + 0.0645, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0012827944113171373, + 0.00031256546416591046, + 0.0017962047733757788 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3433058229245676, + "pour_controller_source_return_step_error_deg": 2.1638663666968756, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.343843034866341, + "pour_controller_source_return_best_wrist_position": -1.6122961044311523, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6122961044311523, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03534320279998139, + "valid_pour_held_xy_dist": 0.03048078690996909, + "valid_pour_held_gripper_dist": 0.007393319990278058, + "valid_pour_required_height": 0.7911063888054763, + "valid_pour_held_z": 1.0143764220108569, + "valid_pour_source_tilt_deg": 2.1638544283328223, + "valid_pour_source_upright_tilt_deg": 2.34331336677266, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.4901161193847656e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3403852407194806, + 0.29824909852962045, + 1.0143764220108569 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32930197112280635, + 0.32193455008265415, + 1.0143764220108569 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3348436059211435, + 0.3100918243061373, + 1.0143764220108569 + ], + "valid_pour_held_grasp_object_position": [ + 0.3403852407194806, + 0.32193455008265415, + 1.0143764220108569 + ], + "valid_pour_held_grasp_finger_gap": 0.026150324667653185, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023777166452158275, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010062111792972414, + -0.9991637820987088, + 0.03962941393043784 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005679848385347177, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03342316283744503, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3403852407194806, + 0.29824909852962045, + 1.0143764220108569 + ], + "held_grasp_finger_b": [ + 0.32930197112280635, + 0.32193455008265415, + 1.0143764220108569 + ], + "held_grasp_midpoint": [ + 0.3348436059211435, + 0.3100918243061373, + 1.0143764220108569 + ], + "held_grasp_object_position": [ + 0.3403852407194806, + 0.32193455008265415, + 1.0143764220108569 + ], + "held_grasp_finger_gap": 0.026150324667653185, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023777166452158275, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010062111792972414, + -0.9991637820987088, + 0.03962941393043784 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005679848385347177, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03342316283744503, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18349370374208732, + -0.03044153624603915, + 0.7565878687589997 + ], + "target_position": [ + 0.1826790148518873, + -0.03329895824011504, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.002971292385485476, + "xy_threshold": 0.08, + "gripper_dist": 0.21749058907450544, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565878687589997, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0752604726225938, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08854153425510024, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18976399735214636, + "release_required_pad_clearance": 0.05427076712755012, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 3.5563441103155644, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 296, + "max_placed_release_frames": 296 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.350072147616846, + 0.35025586514176754, + 1.1651592694985298 + ], + "current_z": 1.1651592694985298, + "required_z": 0.8611063292008315, + "initial_z": 0.7611063292008315, + "lift_margin": 0.30405294029769825, + "gripper_z": 1.154055195841601, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34529210839256497, + 0.345641374790369, + 1.154055195841601 + ], + "object_minus_gripper": [ + 0.004780039224281052, + 0.004614490351398548, + 0.011104073656928781 + ], + "object_to_gripper_xy": 0.006643966901544265, + "object_to_gripper_z": 0.011104073656928781, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.350072147616846, + 0.3262662630522427, + 1.1651592694985298 + ], + "finger_b": [ + 0.339605067625761, + 0.35025586514176754, + 1.1651592694985298 + ], + "finger_midpoint": [ + 0.3448386076213035, + 0.3382610640970051, + 1.1651592694985298 + ], + "object_minus_finger_midpoint": [ + 0.0052335399955425466, + 0.011994801044762415, + 0.0 + ], + "finger_gap": 0.026173665619349286, + "fingertip_max_gap": 0.09063331875251149, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013086832809674655, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1651592694985298, + "object_top_z": 1.215049024597289, + "finger_top_clearance": 0.04988975509875915, + "fingertip_min_top_clearance": 0.014966926529627743, + "object_projection_between_fingers": 0.8400729277968227, + "object_to_finger_line_xy": 0.009593653700524327, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047816659376255746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.4560897688223507, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 377, + "max_stable_success_frames": 377, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3317093589722962, + -0.3680775379892237, + 0.8515396128720297 + ], + "target_position": [ + 0.32465821537517037, + -0.36944034885988575, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.007181634876299631, + "xy_threshold": 0.08, + "gripper_dist": 0.18444505275481146, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396128720297, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07515439803171119, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08524521099309067, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15357635399137679, + "release_required_pad_clearance": 0.052622605496545335, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3064667959312658, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 152, + "max_placed_release_frames": 152 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008430659770965576, + "max_z_decrease": 0.008430659770965576, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03501419612968699, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008430659770965576, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.020978631922030977, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008430659770965576, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008430979308406136, + "max_button_displacement": 0.12, + "button_start": [ + 0.1803581416606903, + -0.42570179700851435, + 0.7768088579177856 + ], + "button_final": [ + 0.1803581416606903, + -0.42570179700851435, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17989779259663316, + -0.42458892217665345, + 0.8033728708580062 + ], + "closest_button": [ + 0.18028540909290314, + -0.42569190263748163, + 0.7683781981468201 + ], + "closest_ee_minus_button": [ + -0.00038761649626997685, + 0.0011029804608281846, + 0.03499467271118617 + ], + "button_min_z_position": [ + 0.18028540909290314, + -0.42569190263748163, + 0.7683781981468201 + ], + "min_active_finger_to_button": 0.14579894922574146, + "closest_active_finger": [ + 0.053263261914253235, + -0.4883078336715698, + 0.8104537129402161 + ], + "closest_active_finger_button": [ + 0.18036414682865143, + -0.42570808529853815, + 0.7760448455810547 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1271008849143982, + -0.06259974837303167, + 0.03440886735916138 + ], + "min_contact_pad_to_button": 0.020978631922030977, + "closest_contact_pad": [ + 0.18028540909290314, + -0.42569190263748163, + 0.789356830068851 + ], + "closest_contact_pad_button": [ + 0.18028540909290314, + -0.42569190263748163, + 0.7683781981468201 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.020978631922030977 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 87, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "5515f1c6ba37bbc8a176dfb763581f8743aa4ecd7ca81ecfc8b91a47e06a138c", + "visual_seed": 7975952026257501366, + "episode_index": 87, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_88_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_88_success.json new file mode 100644 index 0000000000000000000000000000000000000000..1c4dc06e4554bc471e399e15ee3317371b9e30c1 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_88_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 88, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.1997967698684295, + -0.029325945804909624, + 0.9975236845417851 + ], + "current_z": 0.9975236845417851, + "required_z": 0.8565864478039209, + "initial_z": 0.7565864478039209, + "lift_margin": 0.14093723673786418, + "gripper_z": 1.000547192717396, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1952459362051903, + -0.033899994844944215, + 1.000547192717396 + ], + "object_minus_gripper": [ + 0.004550833663239218, + 0.00457404904003459, + -0.0030235081756108118 + ], + "object_to_gripper_xy": 0.006452287319324259, + "object_to_gripper_z": -0.0030235081756108118, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.1997967698684295, + -0.05335494963597903, + 0.9975236845417851 + ], + "finger_b": [ + 0.1883318326846824, + -0.029325945804909624, + 0.9975236845417851 + ], + "finger_midpoint": [ + 0.19406430127655594, + -0.04134044772044433, + 0.9975236845417851 + ], + "object_minus_finger_midpoint": [ + 0.0057324685918735685, + 0.012014501915534707, + 0.0 + ], + "finger_gap": 0.026624008145672118, + "fingertip_max_gap": 0.09129458628002785, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01331200407283607, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9975236845417851, + "object_top_z": 1.0428083175810219, + "finger_top_clearance": 0.0452846330392368, + "fingertip_min_top_clearance": 0.013585389911771056, + "object_projection_between_fingers": 0.8145629609186206, + "object_to_finger_line_xy": 0.010347466016532605, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048147293140013925, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3199304515177277, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.336191183515974, + 0.35131896098122073, + 0.761106508014766 + ], + "gripper_position": [ + 0.32870381295581524, + 0.31658792419768267, + 1.016385025142966 + ], + "target_minus_gripper": [ + 0.007487370560158746, + 0.03473103678353806, + -0.25527851712820004 + ], + "held_position": [ + 0.33334846210582403, + 0.3209866726071808, + 1.0132454464990177 + ], + "held_minus_target": [ + -0.002842721410149962, + -0.03033228837403995, + 0.25213893848425173 + ], + "held_minus_gripper": [ + 0.004644649150008784, + 0.00439874840949811, + -0.0031395786439483153 + ], + "xy_dist": 0.035528940794296214, + "held_xy_dist": 0.030465206105024862, + "held_gripper_dist": 0.007125918001091215, + "max_held_gripper_dist": 0.007131698267011083, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.761106508014766, + "held_z": 1.0132454464990177, + "required_height": 0.791106508014766, + "gripper_z": 1.016385025142966, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20198569343984, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.8294279731888246, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.17023359193112, + "max_source_tilt_deg": 89.64011192103014, + "source_upright_tilt_deg": 2.2295131237416683, + "max_source_upright_tilt_deg": 89.95494543794533, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.17023359193112, + "source_upright_return_tilt_deg": 2.2295131237416683, + "missing_source_orientation_samples": 0, + "target_xy_drift": 1.6049041769309353e-07, + "max_target_xy_drift": 2.827296549232345e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3362, + 0.3513, + 0.7611 + ], + "controller_target_position": [ + 0.3362, + 0.3513, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0011, + 0.0019, + -0.0011 + ], + "controller_last_pour_pose_position": [ + 0.3351, + 0.3278, + 1.0254 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0668, + 0.0643, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010519423763049795, + 0.0019090840653819292, + -0.0011055832057254382 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.2295141051195664, + "source_return_step_error_deg": 2.1702316768021634, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2405205018350878, + "source_return_best_wrist_position": -1.6128109693527222, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6128109693527222 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3362, + 0.3513, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3362, + 0.3513, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0011, + 0.0019, + -0.0011 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3351, + 0.3278, + 1.0254 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0668, + 0.0643, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0010519423763049795, + 0.0019090840653819292, + -0.0011055832057254382 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.2295141051195664, + "pour_controller_source_return_step_error_deg": 2.1702316768021634, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2405205018350878, + "pour_controller_source_return_best_wrist_position": -1.6128109693527222, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6128109693527222, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.035528940794296214, + "valid_pour_held_xy_dist": 0.030465206105024862, + "valid_pour_held_gripper_dist": 0.007125918001091215, + "valid_pour_required_height": 0.791106508014766, + "valid_pour_held_z": 1.0132454464990177, + "valid_pour_source_tilt_deg": 2.17023359193112, + "valid_pour_source_upright_tilt_deg": 2.2295131237416683, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 1.6049041769309353e-07, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33334846210582403, + 0.29738402188009155, + 1.0132454464990177 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32230735662521276, + 0.3209866726071808, + 1.0132454464990177 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3278279093655184, + 0.30918534724363617, + 1.0132454464990177 + ], + "valid_pour_held_grasp_object_position": [ + 0.33334846210582403, + 0.3209866726071808, + 1.0132454464990177 + ], + "valid_pour_held_grasp_finger_gap": 0.026057458271653237, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02370433838781122, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.010828117800384635, + -0.9992430201897607, + 0.037364936330020804 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.0056651154248137225, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0334676101626957, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33334846210582403, + 0.29738402188009155, + 1.0132454464990177 + ], + "held_grasp_finger_b": [ + 0.32230735662521276, + 0.3209866726071808, + 1.0132454464990177 + ], + "held_grasp_midpoint": [ + 0.3278279093655184, + 0.30918534724363617, + 1.0132454464990177 + ], + "held_grasp_object_position": [ + 0.33334846210582403, + 0.3209866726071808, + 1.0132454464990177 + ], + "held_grasp_finger_gap": 0.026057458271653237, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02370433838781122, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.010828117800384635, + -0.9992430201897607, + 0.037364936330020804 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.0056651154248137225, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0334676101626957, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1848588487676667, + -0.03613345313031389, + 0.7565863980619755 + ], + "target_position": [ + 0.17538680654768551, + -0.032552155284593993, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.010126464243597765, + "xy_threshold": 0.08, + "gripper_dist": 0.22278134462312055, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565863980619755, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07540557818508786, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08627765417241944, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19246478503611333, + "release_required_pad_clearance": 0.05313882708620972, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.303241459239773, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 263, + "max_placed_release_frames": 263 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3451916816442969, + 0.3466268251758442, + 1.1619114707361842 + ], + "current_z": 1.1619114707361842, + "required_z": 0.8611066272240556, + "initial_z": 0.7611066272240556, + "lift_margin": 0.30080484351212855, + "gripper_z": 1.1509015531686206, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.340282040668955, + 0.34176443235848575, + 1.1509015531686206 + ], + "object_minus_gripper": [ + 0.004909640975341911, + 0.004862392817358452, + 0.011009917567563532 + ], + "object_to_gripper_xy": 0.006909952128419945, + "object_to_gripper_z": 0.011009917567563532, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3451916816442969, + 0.32277150194133386, + 1.1619114707361842 + ], + "finger_b": [ + 0.33406567709121937, + 0.3466268251758442, + 1.1619114707361842 + ], + "finger_midpoint": [ + 0.33962867936775815, + 0.33469916355858903, + 1.1619114707361842 + ], + "object_minus_finger_midpoint": [ + 0.0055630022765387754, + 0.01192766161725517, + 0.0 + ], + "finger_gap": 0.0263223179818585, + "fingertip_max_gap": 0.09056309860596914, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01316115899092925, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.1619114707361842, + "object_top_z": 1.2117403350820306, + "finger_top_clearance": 0.049828864345846435, + "fingertip_min_top_clearance": 0.01494865930375393, + "object_projection_between_fingers": 0.821338817468038, + "object_to_finger_line_xy": 0.010083247041739407, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047781549302984574, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3585414807428576, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3344796609311117, + -0.3689282580727703, + 0.8515395685532816 + ], + "target_position": [ + 0.32805346884604275, + -0.3704605877116907, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006606358969698572, + "xy_threshold": 0.08, + "gripper_dist": 0.18298153822299987, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395685532816, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07582036113100205, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08516585423601729, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15046946417809787, + "release_required_pad_clearance": 0.052582927118008646, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.23069979562226844, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008616864681243896, + "max_z_decrease": 0.008616864681243896, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03500197687994246, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008616864681243896, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02111764752418445, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008616864681243896, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008617202528948367, + "max_button_displacement": 0.12, + "button_start": [ + 0.18375340104103086, + -0.42672204971313477, + 0.7768088579177856 + ], + "button_final": [ + 0.18375340104103086, + -0.42672204971313477, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18423037732166198, + -0.4271561889590343, + 0.8031865483757471 + ], + "closest_button": [ + 0.1836911141872406, + -0.42667797207832336, + 0.7681919932365417 + ], + "closest_ee_minus_button": [ + 0.000539263134421375, + -0.0004782168807109244, + 0.03499455513920535 + ], + "button_min_z_position": [ + 0.1836911141872406, + -0.42667797207832336, + 0.7681919932365417 + ], + "min_active_finger_to_button": 0.1454042386757558, + "closest_active_finger": [ + 0.04339905083179474, + -0.411309152841568, + 0.809359073638916 + ], + "closest_active_finger_button": [ + 0.18376246094703674, + -0.4267273247241974, + 0.7746778726577759 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.140363410115242, + 0.015418171882629395, + 0.03468120098114014 + ], + "min_contact_pad_to_button": 0.02111764752418445, + "closest_contact_pad": [ + 0.1836911141872406, + -0.4283113620325146, + 0.7892463769656667 + ], + "closest_contact_pad_button": [ + 0.1836911141872406, + -0.42667797207832336, + 0.7681919932365417 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0016333899541912111, + 0.021054383729124937 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 88, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "a02199bdbbb26bcac982cb0a92fedf68c7bd341f9c372535ca107dd047395186", + "visual_seed": 8559251103857396216, + "episode_index": 88, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_89_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_89_success.json new file mode 100644 index 0000000000000000000000000000000000000000..64d75786c413636ecd692f8eca7ef0544ac22034 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_89_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 89, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20159258173239514, + -0.03642461836870897, + 0.9986006199973554 + ], + "current_z": 0.9986006199973554, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.14201411258878982, + "gripper_z": 1.001654962026742, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19684651486607635, + -0.040968904658229915, + 1.001654962026742 + ], + "object_minus_gripper": [ + 0.004746066866318788, + 0.0045442862895209435, + -0.003054342029386703 + ], + "object_to_gripper_xy": 0.006570820997462727, + "object_to_gripper_z": -0.003054342029386703, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20159258173239514, + -0.06078745588213117, + 0.9986006199973554 + ], + "finger_b": [ + 0.19051727150453687, + -0.03642461836870897, + 0.9986006199973554 + ], + "finger_midpoint": [ + 0.19605492661846602, + -0.04860603712542007, + 0.9986006199973554 + ], + "object_minus_finger_midpoint": [ + 0.005537655113929119, + 0.012181418756711096, + 0.0 + ], + "finger_gap": 0.02676210657531865, + "fingertip_max_gap": 0.09170248174571244, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013381053287659317, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9986006199973554, + "object_top_z": 1.044073291055444, + "finger_top_clearance": 0.04547267105808861, + "fingertip_min_top_clearance": 0.0136418013174266, + "object_projection_between_fingers": 0.8287339788846796, + "object_to_finger_line_xy": 0.010082389543314228, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04835124087285622, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.332768541016028, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 163, + "max_stable_success_frames": 163, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.33899212498325915, + 0.34902975519165463, + 0.7611063888054765 + ], + "gripper_position": [ + 0.33207540794234897, + 0.3140934876814326, + 1.0170738970429647 + ], + "target_minus_gripper": [ + 0.006916717040910181, + 0.03493626751022205, + -0.25596750823748815 + ], + "held_position": [ + 0.33687250151242815, + 0.3184822992255198, + 1.0138735767416336 + ], + "held_minus_target": [ + -0.0021196234708310002, + -0.03054745596613484, + 0.25276718793615705 + ], + "held_minus_gripper": [ + 0.004797093570079181, + 0.004388811544087212, + -0.0032003203013311055 + ], + "xy_dist": 0.03561437577958954, + "held_xy_dist": 0.03062090576160419, + "held_gripper_dist": 0.0072467802174979905, + "max_held_gripper_dist": 0.007262299451320659, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054765, + "held_z": 1.0138735767416336, + "required_height": 0.7911063888054766, + "gripper_z": 1.0170738970429647, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.2032697690038, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.9164306073175374, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.365100292925057, + "max_source_tilt_deg": 89.89825851660054, + "source_upright_tilt_deg": 2.427264149677134, + "max_source_upright_tilt_deg": 89.9133537403099, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.365100292925057, + "source_upright_return_tilt_deg": 2.427264149677134, + "missing_source_orientation_samples": 0, + "target_xy_drift": 2.9802322387695312e-08, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.339, + 0.349, + 0.7611 + ], + "controller_target_position": [ + 0.339, + 0.349, + 0.7611 + ], + "controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0001, + 0.001, + 0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3389, + 0.3247, + 1.0267 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0648, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000139833201273131, + 0.0010189859167698658, + 0.00025845445496206886 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.4272824650220226, + "source_return_step_error_deg": 2.3651054956161386, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.428721023844893, + "source_return_best_wrist_position": -1.612915277481079, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.612915277481079 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.339, + 0.349, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.339, + 0.349, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + -0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0001, + 0.001, + 0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3389, + 0.3247, + 1.0267 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0648, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.000139833201273131, + 0.0010189859167698658, + 0.00025845445496206886 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.4272824650220226, + "pour_controller_source_return_step_error_deg": 2.3651054956161386, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.428721023844893, + "pour_controller_source_return_best_wrist_position": -1.612915277481079, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.612915277481079, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03561437577958954, + "valid_pour_held_xy_dist": 0.03062090576160419, + "valid_pour_held_gripper_dist": 0.0072467802174979905, + "valid_pour_required_height": 0.7911063888054766, + "valid_pour_held_z": 1.0138735767416336, + "valid_pour_source_tilt_deg": 2.365100292925057, + "valid_pour_source_upright_tilt_deg": 2.427264149677134, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 2.9802322387695312e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33687250151242815, + 0.294642847050423, + 1.0138735767416336 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32601580489613513, + 0.3184822992255198, + 1.0138735767416336 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33144415320428167, + 0.3065625731379714, + 1.0138735767416336 + ], + "valid_pour_held_grasp_object_position": [ + 0.33687250151242815, + 0.3184822992255198, + 1.0138735767416336 + ], + "valid_pour_held_grasp_finger_gap": 0.026195177827740664, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.0240095936265004, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.017641663666514287, + -0.9991028007408334, + 0.03850149678779391 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005656285623116209, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.0333869583427946, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33687250151242815, + 0.294642847050423, + 1.0138735767416336 + ], + "held_grasp_finger_b": [ + 0.32601580489613513, + 0.3184822992255198, + 1.0138735767416336 + ], + "held_grasp_midpoint": [ + 0.33144415320428167, + 0.3065625731379714, + 1.0138735767416336 + ], + "held_grasp_object_position": [ + 0.33687250151242815, + 0.3184822992255198, + 1.0138735767416336 + ], + "held_grasp_finger_gap": 0.026195177827740664, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.0240095936265004, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.017641663666514287, + -0.9991028007408334, + 0.03850149678779391 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005656285623116209, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.0333869583427946, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1878502933352441, + -0.03554955197265934, + 0.7565864952003889 + ], + "target_position": [ + 0.179488062248421, + -0.03729326184697696, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008542097685886263, + "xy_threshold": 0.08, + "gripper_dist": 0.22262726110999925, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864952003889, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753139512133595, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08613886041674733, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.19386269771173079, + "release_required_pad_clearance": 0.053069430208373666, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 1.1676659545580852, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 256, + "max_placed_release_frames": 256 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.34795432749422545, + 0.3452840045738218, + 1.163819647672189 + ], + "current_z": 1.163819647672189, + "required_z": 0.8611063888054765, + "initial_z": 0.7611063888054765, + "lift_margin": 0.3027132588667124, + "gripper_z": 1.1528137184459846, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34308086763352635, + 0.34048210875006757, + 1.1528137184459846 + ], + "object_minus_gripper": [ + 0.004873459860699092, + 0.004801895823754232, + 0.011005929226204358 + ], + "object_to_gripper_xy": 0.0068416967570942185, + "object_to_gripper_z": 0.011005929226204358, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.34795432749422545, + 0.32138877674487104, + 1.163819647672189 + ], + "finger_b": [ + 0.3369990995091647, + 0.3452840045738218, + 1.163819647672189 + ], + "finger_midpoint": [ + 0.34247671350169506, + 0.3333363906593464, + 1.163819647672189 + ], + "object_minus_finger_midpoint": [ + 0.0054776139925303835, + 0.011947613914475408, + 0.0 + ], + "finger_gap": 0.026286858564730047, + "fingertip_max_gap": 0.09050120310948537, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.01314342928236505, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.163819647672189, + "object_top_z": 1.2136315522640655, + "finger_top_clearance": 0.049811904591876566, + "fingertip_min_top_clearance": 0.014943571377562935, + "object_projection_between_fingers": 0.8263137402419797, + "object_to_finger_line_xy": 0.009958499528443444, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.047750601554742686, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.35958428344296245, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3305099614870326, + -0.3661394017325586, + 0.8515395741913845 + ], + "target_position": [ + 0.3240813152167259, + -0.36759483578103314, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.006591341376244085, + "xy_threshold": 0.08, + "gripper_dist": 0.18421258468605883, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395741913845, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07578562167426155, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08538892155978715, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.15167062168785353, + "release_required_pad_clearance": 0.05269446077989358, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4441127301714534, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 150, + "max_placed_release_frames": 150 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008684933185577393, + "max_z_decrease": 0.008684933185577393, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.0350216847209352, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008684933185577393, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02101255940419691, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 121, + "max_z_decrease_with_contact_point": 0.008684933185577393, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008685470400519065, + "max_button_displacement": 0.12, + "button_start": [ + 0.1797812432050704, + -0.42385628819465637, + 0.7768088579177856 + ], + "button_final": [ + 0.1797812432050704, + -0.42385628819465637, + 0.7768088579177856 + ], + "closest_ee": [ + 0.18056245497472895, + -0.42272960837343887, + 0.8038831738080368 + ], + "closest_button": [ + 0.17969836294651026, + -0.4238121509552002, + 0.7688888907432556 + ], + "closest_ee_minus_button": [ + 0.0008640920282186881, + 0.0010825425817613255, + 0.03499428306478114 + ], + "button_min_z_position": [ + 0.1796941608190536, + -0.42381447553634644, + 0.7681239247322083 + ], + "min_active_finger_to_button": 0.14475881538450042, + "closest_active_finger": [ + 0.053668901324272156, + -0.4859795868396759, + 0.8106135129928589 + ], + "closest_active_finger_button": [ + 0.1797893345355987, + -0.4238627552986145, + 0.7761135101318359 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.12612043321132654, + -0.0621168315410614, + 0.03450000286102295 + ], + "min_contact_pad_to_button": 0.02101255940419691, + "closest_contact_pad": [ + 0.1796941608190536, + -0.42383234750903875, + 0.789136476536011 + ], + "closest_contact_pad_button": [ + 0.1796941608190536, + -0.42381447553634644, + 0.7681239247322083 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -1.7871972692318217e-05, + 0.021012551803802793 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 89, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "048ce120d8414ca8ac10d056af72ea2f3287f414cbf3aef7c4a0b8f322f16e44", + "visual_seed": 569927996559585617, + "episode_index": 89, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_8_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_8_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c4155d7c0fd809c91f664cd6e1002872f0af42bb --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_8_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 8, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20366284534234066, + -0.027438513556477948, + 0.9949305821449623 + ], + "current_z": 0.9949305821449623, + "required_z": 0.8565865670132103, + "initial_z": 0.7565865670132104, + "lift_margin": 0.13834401513175199, + "gripper_z": 0.9985564171708328, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.1990226351225927, + -0.03211951954520309, + 0.9985564171708328 + ], + "object_minus_gripper": [ + 0.0046402102197479755, + 0.004681005988725142, + -0.0036258350258704386 + ], + "object_to_gripper_xy": 0.006591158316254754, + "object_to_gripper_z": -0.0036258350258704386, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20366284534234066, + -0.05140564289931719, + 0.9949305821449623 + ], + "finger_b": [ + 0.19196287010203605, + -0.027438513556477948, + 0.9949305821449623 + ], + "finger_midpoint": [ + 0.19781285772218837, + -0.03942207822789757, + 0.9949305821449623 + ], + "object_minus_finger_midpoint": [ + 0.005849987620152292, + 0.01198356467141962, + 0.0 + ], + "finger_gap": 0.0266704463697203, + "fingertip_max_gap": 0.09128843206113549, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013335223184860143, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9949305821449623, + "object_top_z": 1.0402757242897496, + "finger_top_clearance": 0.04534514214478724, + "fingertip_min_top_clearance": 0.013603542643436157, + "object_projection_between_fingers": 0.807553810322899, + "object_to_finger_line_xy": 0.010514065494260356, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.048144216030567746, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2550332924667544, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 160, + "max_stable_success_frames": 160, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.3367971541370829, + 0.3554575796888776, + 0.7611063292008315 + ], + "gripper_position": [ + 0.3299792153699516, + 0.31901587118795083, + 1.016394678434251 + ], + "target_minus_gripper": [ + 0.006817938767131271, + 0.03644170850092676, + -0.2552883492334195 + ], + "held_position": [ + 0.33475942134924586, + 0.3234385703400482, + 1.0126278218800915 + ], + "held_minus_target": [ + -0.002037732787837032, + -0.0320190093488294, + 0.25152149267925994 + ], + "held_minus_gripper": [ + 0.004780205979294239, + 0.004422699152097365, + -0.0037668565541595367 + ], + "xy_dist": 0.03707401256269503, + "held_xy_dist": 0.032083785851969686, + "held_gripper_dist": 0.007523286867723296, + "max_held_gripper_dist": 0.007528271637567851, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008315, + "held_z": 1.0126278218800915, + "required_height": 0.7911063292008316, + "gripper_z": 1.016394678434251, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.20797576934194, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 0.3668276622039924, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.220195663918191, + "max_source_tilt_deg": 89.95439592766061, + "source_upright_tilt_deg": 2.1994274649601295, + "max_source_upright_tilt_deg": 89.92541445891538, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.220195663918191, + "source_upright_return_tilt_deg": 2.1994274649601295, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464488641293e-08, + "max_target_xy_drift": 1.264405456111867e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3368, + 0.3555, + 0.7611 + ], + "controller_target_position": [ + 0.3368, + 0.3555, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + 0.0015, + -0.0016, + -0.0005 + ], + "controller_last_pour_pose_position": [ + 0.3383, + 0.3283, + 1.0261 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.066, + 0.0637, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014877252174446587, + -0.0016322389191940618, + -0.0004639523215219294 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.199423358061835, + "source_return_step_error_deg": 2.220193234528835, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.2184763525526314, + "source_return_best_wrist_position": -1.6133204698562622, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6133204698562622 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3368, + 0.3555, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3368, + 0.3555, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + 0.0015, + -0.0016, + -0.0005 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3383, + 0.3283, + 1.0261 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.066, + 0.0637, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + 0.0014877252174446587, + -0.0016322389191940618, + -0.0004639523215219294 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.199423358061835, + "pour_controller_source_return_step_error_deg": 2.220193234528835, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.2184763525526314, + "pour_controller_source_return_best_wrist_position": -1.6133204698562622, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6133204698562622, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03707401256269503, + "valid_pour_held_xy_dist": 0.032083785851969686, + "valid_pour_held_gripper_dist": 0.007523286867723296, + "valid_pour_required_height": 0.7911063292008316, + "valid_pour_held_z": 1.0126278218800915, + "valid_pour_source_tilt_deg": 2.220195663918191, + "valid_pour_source_upright_tilt_deg": 2.1994274649601295, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464488641293e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.33475942134924586, + 0.2997508717958192, + 1.0126278218800915 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32367941121677235, + 0.3234385703400482, + 1.0126278218800915 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3292194162830091, + 0.31159472106793373, + 1.0126278218800915 + ], + "valid_pour_held_grasp_object_position": [ + 0.33475942134924586, + 0.3234385703400482, + 1.0126278218800915 + ], + "valid_pour_held_grasp_finger_gap": 0.026150978697899303, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.023662604647787484, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + -0.0006898378109454474, + -0.9992633101745251, + 0.03837135732347118 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005550476162092138, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.03336127923198199, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.33475942134924586, + 0.2997508717958192, + 1.0126278218800915 + ], + "held_grasp_finger_b": [ + 0.32367941121677235, + 0.3234385703400482, + 1.0126278218800915 + ], + "held_grasp_midpoint": [ + 0.3292194162830091, + 0.31159472106793373, + 1.0126278218800915 + ], + "held_grasp_object_position": [ + 0.33475942134924586, + 0.3234385703400482, + 1.0126278218800915 + ], + "held_grasp_finger_gap": 0.026150978697899303, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.023662604647787484, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + -0.0006898378109454474, + -0.9992633101745251, + 0.03837135732347118 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005550476162092138, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.03336127923198199, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.18510838557437403, + -0.030735846229377944, + 0.7565864283939354 + ], + "target_position": [ + 0.1810805566872174, + -0.02956131625591831, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.004195584131294301, + "xy_threshold": 0.08, + "gripper_dist": 0.21779028357132793, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565864283939354, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07575719497191653, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08544145001432309, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18783231209695453, + "release_required_pad_clearance": 0.052720725007161545, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 0.4941630442173305, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 258, + "max_placed_release_frames": 258 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.3455805935615977, + 0.35081095867199374, + 1.16386770152678 + ], + "current_z": 1.16386770152678, + "required_z": 0.8611063888054763, + "initial_z": 0.7611063888054763, + "lift_margin": 0.3027613127213037, + "gripper_z": 1.1528553763895972, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3407912543840717, + 0.346082677270144, + 1.1528553763895972 + ], + "object_minus_gripper": [ + 0.0047893391775259975, + 0.004728281401849721, + 0.011012325137182755 + ], + "object_to_gripper_xy": 0.006730112537875081, + "object_to_gripper_z": 0.011012325137182755, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.3455805935615977, + 0.32694707260641115, + 1.16386770152678 + ], + "finger_b": [ + 0.3347685454087974, + 0.35081095867199374, + 1.16386770152678 + ], + "finger_midpoint": [ + 0.34017456948519753, + 0.3388790156392024, + 1.16386770152678 + ], + "object_minus_finger_midpoint": [ + 0.005406024076400173, + 0.011931943032791326, + 0.0 + ], + "finger_gap": 0.026198958823006296, + "fingertip_max_gap": 0.09041409337292314, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013099479411503185, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.16386770152678, + "object_top_z": 1.2136413879717054, + "finger_top_clearance": 0.049773686444925413, + "fingertip_min_top_clearance": 0.01493210593347759, + "object_projection_between_fingers": 0.82968696906249, + "object_to_finger_line_xy": 0.009848386991144226, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04770704668646157, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.3622595181661688, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 374, + "max_stable_success_frames": 374, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3323338098666668, + -0.3681772976102511, + 0.8515396106277247 + ], + "target_position": [ + 0.32550112494129346, + -0.3694046876303115, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00694205081735704, + "xy_threshold": 0.08, + "gripper_dist": 0.18383195584662348, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515396106277247, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.0753594113510032, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08526086248499214, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1523598435861032, + "release_required_pad_clearance": 0.05263043124249607, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.3214250963708848, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 151, + "max_placed_release_frames": 151 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008420050144195557, + "max_z_decrease": 0.008420050144195557, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03502715451621471, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008420050144195557, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.02119560234686768, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008420050144195557, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008420466294617984, + "max_button_displacement": 0.12, + "button_start": [ + 0.18120105564594266, + -0.4256661534309387, + 0.7768088579177856 + ], + "button_final": [ + 0.18120105564594266, + -0.4256661534309387, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17936062565455999, + -0.4266805292516672, + 0.8041126091439184 + ], + "closest_button": [ + 0.1811403632164001, + -0.42566543817520136, + 0.7691454291343689 + ], + "closest_ee_minus_button": [ + -0.0017797375618401057, + -0.0010150910764658572, + 0.03496718000954946 + ], + "button_min_z_position": [ + 0.18112277984619135, + -0.4256364703178406, + 0.7683888077735901 + ], + "min_active_finger_to_button": 0.14757682988662238, + "closest_active_finger": [ + 0.03875807672739029, + -0.40906912088394165, + 0.8078784346580505 + ], + "closest_active_finger_button": [ + 0.1812195926904678, + -0.42568153142929077, + 0.7731269598007202 + ], + "closest_active_finger_index": 0, + "closest_active_finger_minus_button": [ + -0.14246151596307752, + 0.01661241054534912, + 0.03475147485733032 + ], + "min_contact_pad_to_button": 0.02119560234686768, + "closest_contact_pad": [ + 0.1811403632164001, + -0.4279899848522375, + 0.7902131779840401 + ], + "closest_contact_pad_button": [ + 0.1811403632164001, + -0.42566543817520136, + 0.7691454291343689 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + -0.0023245466770361323, + 0.02106774884967122 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 8, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "ea71ce3d3b098c745266df92c5e398e2e3dbcc604a7cbccb05148f54183344a7", + "visual_seed": 5829212806432508790, + "episode_index": 8, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_90_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_90_success.json new file mode 100644 index 0000000000000000000000000000000000000000..144a8ff75f51638a8152b3c91ed1003b4d67dc64 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_90_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 90, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.2025277870776529, + -0.03166440601055087, + 0.9968448357772826 + ], + "current_z": 0.9968448357772826, + "required_z": 0.8565865074085656, + "initial_z": 0.7565865074085656, + "lift_margin": 0.140258328368717, + "gripper_z": 0.9998731357699824, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19792512816134353, + -0.03619625245959961, + 0.9998731357699824 + ], + "object_minus_gripper": [ + 0.004602658916309371, + 0.004531846449048735, + -0.0030282999926998233 + ], + "object_to_gripper_xy": 0.00645926476757516, + "object_to_gripper_z": -0.0030282999926998233, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.2025277870776529, + -0.055822888629142725, + 0.9968448357772826 + ], + "finger_b": [ + 0.1913591682987223, + -0.03166440601055087, + 0.9968448357772826 + ], + "finger_midpoint": [ + 0.1969434776881876, + -0.0437436473198468, + 0.9968448357772826 + ], + "object_minus_finger_midpoint": [ + 0.005584309389465303, + 0.012079241309295927, + 0.0 + ], + "finger_gap": 0.026615227368216976, + "fingertip_max_gap": 0.09184084869288003, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013307613684108488, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9968448357772826, + "object_top_z": 1.0423795911420413, + "finger_top_clearance": 0.045534755364758706, + "fingertip_min_top_clearance": 0.013660426609427595, + "object_projection_between_fingers": 0.8239084268173892, + "object_to_finger_line_xy": 0.010137688433452186, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04842042434644002, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.3839065479240562, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 162, + "max_stable_success_frames": 162, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34319911021847327, + 0.3495594020651288, + 0.7611063888054762 + ], + "gripper_position": [ + 0.3356379397298843, + 0.3137078046885741, + 1.0164985442918522 + ], + "target_minus_gripper": [ + 0.007561170488588953, + 0.03585159737655469, + -0.25539215548637595 + ], + "held_position": [ + 0.34029650614759843, + 0.3180755325763138, + 1.0133176495862768 + ], + "held_minus_target": [ + -0.002902604070874837, + -0.031483869488814986, + 0.2522112607808006 + ], + "held_minus_gripper": [ + 0.004658566417714116, + 0.004367727887739703, + -0.0031808947055753656 + ], + "xy_dist": 0.03664025564332339, + "held_xy_dist": 0.031617386805063354, + "held_gripper_dist": 0.007134239910288289, + "max_held_gripper_dist": 0.007139530410732875, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063888054762, + "held_z": 1.0133176495862768, + "required_height": 0.7911063888054762, + "gripper_z": 1.0164985442918522, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.1996019574195, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.4462235174406992, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.2218563597845074, + "max_source_tilt_deg": 89.8626163448405, + "source_upright_tilt_deg": 2.3690208890784863, + "max_source_upright_tilt_deg": 89.59205397512343, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.2218563597845074, + "source_upright_return_tilt_deg": 2.3690208890784863, + "missing_source_orientation_samples": 0, + "target_xy_drift": 0.0, + "max_target_xy_drift": 9.424321830774485e-08, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 220, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 220, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3432, + 0.3496, + 0.7611 + ], + "controller_target_position": [ + 0.3432, + 0.3496, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0003, + -0.0004, + -0.0001 + ], + "controller_last_pour_pose_position": [ + 0.3429, + 0.3238, + 1.0264 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0672, + 0.0647, + 0.0935 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003248296742638286, + -0.0003890886220907759, + -0.0001029505013703197 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.3690373347354736, + "source_return_step_error_deg": 2.2218837589915013, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.3692756034161535, + "source_return_best_wrist_position": -1.6127113103866577, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.6127113103866577 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3432, + 0.3496, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3432, + 0.3496, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + 0.0, + 0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0003, + -0.0004, + -0.0001 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3429, + 0.3238, + 1.0264 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0672, + 0.0647, + 0.0935 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -0.0003248296742638286, + -0.0003890886220907759, + -0.0001029505013703197 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.3690373347354736, + "pour_controller_source_return_step_error_deg": 2.2218837589915013, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.3692756034161535, + "pour_controller_source_return_best_wrist_position": -1.6127113103866577, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.6127113103866577, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03664025564332339, + "valid_pour_held_xy_dist": 0.031617386805063354, + "valid_pour_held_gripper_dist": 0.007134239910288289, + "valid_pour_required_height": 0.7911063888054762, + "valid_pour_held_z": 1.0133176495862768, + "valid_pour_source_tilt_deg": 2.2218563597845074, + "valid_pour_source_upright_tilt_deg": 2.3690208890784863, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 0.0, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.34029650614759843, + 0.2943949235959928, + 1.0133176495862768 + ], + "valid_pour_held_grasp_finger_b": [ + 0.3293795416600155, + 0.3180755325763138, + 1.0133176495862768 + ], + "valid_pour_held_grasp_midpoint": [ + 0.33483802390380696, + 0.30623522808615333, + 1.0133176495862768 + ], + "valid_pour_held_grasp_object_position": [ + 0.34029650614759843, + 0.3180755325763138, + 1.0133176495862768 + ], + "valid_pour_held_grasp_finger_gap": 0.02607587688462286, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02384050226110993, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.016500213953295793, + -0.999145335789566, + 0.03789908850422175 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005670753696858685, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033460106085021465, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.34029650614759843, + 0.2943949235959928, + 1.0133176495862768 + ], + "held_grasp_finger_b": [ + 0.3293795416600155, + 0.3180755325763138, + 1.0133176495862768 + ], + "held_grasp_midpoint": [ + 0.33483802390380696, + 0.30623522808615333, + 1.0133176495862768 + ], + "held_grasp_object_position": [ + 0.34029650614759843, + 0.3180755325763138, + 1.0133176495862768 + ], + "held_grasp_finger_gap": 0.02607587688462286, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02384050226110993, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.016500213953295793, + -0.999145335789566, + 0.03789908850422175 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005670753696858685, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033460106085021465, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.17341911698131784, + -0.03857736986104322, + 0.7565869983711409 + ], + "target_position": [ + 0.18108237904765315, + -0.03386447925398814, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.008996495060377772, + "xy_threshold": 0.08, + "gripper_dist": 0.21127964733596316, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565869983711409, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07572412165151582, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08937488895931829, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.18170816896830105, + "release_required_pad_clearance": 0.05468744447965915, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.416655635181891, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 288, + "max_placed_release_frames": 288 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.352251425801092, + 0.3482377512043975, + 1.162879197282047 + ], + "current_z": 1.162879197282047, + "required_z": 0.8611063888054762, + "initial_z": 0.7611063888054762, + "lift_margin": 0.30177280847657073, + "gripper_z": 1.1518982585286037, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.34750344606999695, + 0.34340245464435293, + 1.1518982585286037 + ], + "object_minus_gripper": [ + 0.004747979731095031, + 0.004835296560044555, + 0.010980938753443192 + ], + "object_to_gripper_xy": 0.006776680924351386, + "object_to_gripper_z": 0.010980938753443192, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.352251425801092, + 0.3245820004831595, + 1.162879197282047 + ], + "finger_b": [ + 0.34104629920545787, + 0.3482377512043975, + 1.162879197282047 + ], + "finger_midpoint": [ + 0.3466488625032749, + 0.33640987584377846, + 1.162879197282047 + ], + "object_minus_finger_midpoint": [ + 0.005602563297817054, + 0.011827875360619022, + 0.0 + ], + "finger_gap": 0.026175358721697368, + "fingertip_max_gap": 0.09058795076418155, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013087679360848708, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.162879197282047, + "object_top_z": 1.212739140066944, + "finger_top_clearance": 0.04985994278489714, + "fingertip_min_top_clearance": 0.01495798283546914, + "object_projection_between_fingers": 0.816748199366764, + "object_to_finger_line_xy": 0.010126534820954153, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04779397538209078, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.42061273429145185, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 376, + "max_stable_success_frames": 376, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.32714320499602684, + -0.36350077472648823, + 0.8515395728927728 + ], + "target_position": [ + 0.3232083976600583, + -0.3628239428612998, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.00399259441277549, + "xy_threshold": 0.08, + "gripper_dist": 0.18299146525183585, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.8515395728927728, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07579182131901804, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.0887927070586914, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1501083970099781, + "release_required_pad_clearance": 0.0543963535293457, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 3.818117163817737, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008496105670928955, + "max_z_decrease": 0.008496105670928955, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03506146180318518, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008496105670928955, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 79, + "contact_point_distance": 0.02101972950968145, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008496105670928955, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 79, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.00849681732438167, + "max_button_displacement": 0.12, + "button_start": [ + 0.1789083182811737, + -0.41908541321754456, + 0.7768088579177856 + ], + "button_final": [ + 0.1789083182811737, + -0.41908541321754456, + 0.7768088579177856 + ], + "closest_ee": [ + 0.180150609254177, + -0.41742070656924496, + 0.8036985858495336 + ], + "closest_button": [ + 0.17881569266319278, + -0.4190898537635803, + 0.7687023282051086 + ], + "closest_ee_minus_button": [ + 0.0013349165909842253, + 0.001669147194335363, + 0.03499625764442493 + ], + "button_min_z_position": [ + 0.17880052328109744, + -0.41906365752220154, + 0.7683127522468567 + ], + "min_active_finger_to_button": 0.14411713112992752, + "closest_active_finger": [ + 0.053279876708984375, + -0.48070281744003296, + 0.8108242750167847 + ], + "closest_active_finger_button": [ + 0.17891593277454376, + -0.41909199953079224, + 0.7763360738754272 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1256360560655594, + -0.06161081790924072, + 0.03448820114135742 + ], + "min_contact_pad_to_button": 0.02101972950968145, + "closest_contact_pad": [ + 0.17880052328109744, + -0.41906365752220154, + 0.7893324817565381 + ], + "closest_contact_pad_button": [ + 0.17880052328109744, + -0.41906365752220154, + 0.7683127522468567 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.02101972950968145 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 90, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "d84a28bc3033b98311cc2d279960148c256bfabb9598417f90efc77b0fb5d834", + "visual_seed": 8740749802616643909, + "episode_index": 90, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file diff --git a/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_91_success.json b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_91_success.json new file mode 100644 index 0000000000000000000000000000000000000000..c47dfa390bb8f5be631707f523fd005d366bb409 --- /dev/null +++ b/ur5e/lab3_v1/lab3_heat_2beaker_s06_polplr_htc_00033/results/episode_91_success.json @@ -0,0 +1,1682 @@ +{ + "episode": 91, + "success": true, + "passed_steps": 6, + "total_steps": 6, + "step_accuracy": "6/6", + "step_details": [ + { + "step_index": 0, + "skill": "pick", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_b", + "passed": true, + "metrics": { + "target": "beaker_b", + "active_arm": null, + "object_position": [ + 0.20127995014279146, + -0.03208697817189349, + 0.9959557442734817 + ], + "current_z": 0.9959557442734817, + "required_z": 0.8565865074085653, + "initial_z": 0.7565865074085654, + "lift_margin": 0.1393692368649163, + "gripper_z": 0.9989754122061897, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.19659201468243737, + -0.036674917634184734, + 0.9989754122061897 + ], + "object_minus_gripper": [ + 0.004687935460354092, + 0.004587939462291246, + -0.0030196679327080256 + ], + "object_to_gripper_xy": 0.006559415171346804, + "object_to_gripper_z": -0.0030196679327080256, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.20127995014279146, + -0.05629899625068333, + 0.9959557442734817 + ], + "finger_b": [ + 0.18997755610740416, + -0.03208697817189349, + 0.9959557442734817 + ], + "finger_midpoint": [ + 0.1956287531250978, + -0.044192987211288406, + 0.9959557442734817 + ], + "object_minus_finger_midpoint": [ + 0.005651197017693649, + 0.012106009039394919, + 0.0 + ], + "finger_gap": 0.02672014091240547, + "fingertip_max_gap": 0.09152056190353902, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013360070456202732, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 0.9959557442734817, + "object_top_z": 1.0413974790734857, + "finger_top_clearance": 0.04544173480000402, + "fingertip_min_top_clearance": 0.013632520440001206, + "object_projection_between_fingers": 0.8210781418332078, + "object_to_finger_line_xy": 0.010241479250259233, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04826028095176951, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 1.2743674401745861, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 161, + "max_stable_success_frames": 161, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_b", + "held_object": null, + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 1, + "skill": "pour", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PourSuccessChecker", + "skill": "pour", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "held": "beaker_b", + "active_arm": null, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "target_position": [ + 0.34043446797985644, + 0.3510830457971998, + 0.7611063292008318 + ], + "gripper_position": [ + 0.333278825421507, + 0.3160239336429199, + 1.0165584585930896 + ], + "target_minus_gripper": [ + 0.00715564255834944, + 0.03505911215427987, + -0.2554521293922578 + ], + "held_position": [ + 0.3379807200482414, + 0.3205034264507079, + 1.0133983361111591 + ], + "held_minus_target": [ + -0.0024537479316150135, + -0.030579619346491893, + 0.2522920069103274 + ], + "held_minus_gripper": [ + 0.004701894626734426, + 0.004479492807787977, + -0.0031601224819304274 + ], + "xy_dist": 0.03578190276479489, + "held_xy_dist": 0.030677907332284683, + "held_gripper_dist": 0.0072221910108180055, + "max_held_gripper_dist": 0.007227021282516822, + "held_gripper_threshold": 0.12, + "missing_held_position_samples": 0, + "xy_threshold": 0.15, + "target_z": 0.7611063292008318, + "held_z": 1.0133983361111591, + "required_height": 0.7911063292008318, + "gripper_z": 1.0165584585930896, + "wrist_idx": 5, + "requires_active_wrist_index": false, + "missing_active_wrist_index": false, + "max_wrist_deg": 120.19742312707427, + "rotation_threshold_deg": 50.0, + "rotation_satisfied_by_source_tilt": true, + "source_upright_reference_source": "scene_initial", + "source_upright_axis_sign": 1.0, + "source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "source_start_tilt_deg": 1.2947085658765343, + "source_start_max_tilt_deg": 20.0, + "source_tilt_deg": 2.155744929663273, + "max_source_tilt_deg": 89.79166970363794, + "source_upright_tilt_deg": 2.5833540911927346, + "max_source_upright_tilt_deg": 89.92973858882137, + "uses_end_effector_tilt_evidence": false, + "uses_reconstructed_held_tilt_axis": false, + "end_effector_tilt_deg": null, + "max_end_effector_tilt_deg": null, + "missing_end_effector_orientation_samples": 0, + "source_tilt_threshold_deg": 30.0, + "source_return_ok": true, + "source_return_max_tilt_deg": 15.0, + "source_return_tilt_deg": 2.155744929663273, + "source_upright_return_tilt_deg": 2.5833540911927346, + "missing_source_orientation_samples": 0, + "target_xy_drift": 5.960464477539063e-08, + "max_target_xy_drift": 1.3328003749250113e-07, + "target_max_xy_drift": 0.1, + "target_upright_reference_source": "scene_initial", + "target_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "target_start_tilt_deg": 0.0, + "target_start_max_tilt_deg": 15.0, + "target_tilt_deg": 0.0, + "max_target_tilt_deg": 0.0, + "target_max_tilt_deg": 20.0, + "missing_target_orientation_samples": 0, + "valid_pour_pose_frames": 0, + "max_valid_pour_pose_frames": 219, + "valid_pour_grasp_frames": 0, + "max_valid_pour_grasp_frames": 219, + "valid_pour_grasp_window_ok": true, + "required_valid_pour_frames": 10, + "last_valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "peak_end_effector_tilt_pose_failed_keys": [], + "peak_end_effector_tilt_pose_metrics": {}, + "held_grasp_satisfied_by_valid_pour_pose": false, + "pour_controller_debug": { + "workflow_step_index": 1, + "skill": "pour", + "active_arm": null, + "source_name": "beaker", + "target_object": "beaker_a", + "raw_target_position": [ + 0.3404, + 0.3511, + 0.7611 + ], + "controller_target_position": [ + 0.3404, + 0.3511, + 0.7611 + ], + "controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "lock_target_position": true, + "pour_target_offset": null, + "pour_pose_offset": [ + -0.0, + 0.0007, + -0.0003 + ], + "controller_last_pour_pose_position": [ + 0.3404, + 0.3264, + 1.0262 + ], + "controller_event": 6, + "controller_t": 0.0, + "source_size": [ + 0.0677, + 0.0652, + 0.0934 + ], + "height_range_1": [ + 0.3, + 0.4 + ], + "height_range_2": [ + 0.2, + 0.2 + ], + "tilt_strategy": "wrist_velocity", + "tilt_axis_world": null, + "resolved_tilt_axis_world": null, + "wrist_dof_index": 5, + "wrist_joint_name": "wrist_3_joint", + "motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -1.5727039253963897e-05, + 0.0007232933898827449, + -0.00031567688509177307 + ], + "use_preinterpolated_cartesian_targets": false + }, + "source_pose_feedback": true, + "source_pose_feedback_error": null, + "source_pose_held_object": "beaker_b", + "source_return_upright_error_deg": 2.5833704752953337, + "source_return_step_error_deg": 2.1557583309279322, + "source_return_stable_frames": 5, + "source_return_effective_target_deg": 8.0, + "source_return_best_error_deg": 2.5908761611775843, + "source_return_best_wrist_position": -1.61251962184906, + "source_return_recovering": false, + "wrist_compensated_return_position": -1.61251962184906 + }, + "pour_controller_workflow_step_index": 1, + "pour_controller_skill": "pour", + "pour_controller_active_arm": null, + "pour_controller_source_name": "beaker", + "pour_controller_target_object": "beaker_a", + "pour_controller_raw_target_position": [ + 0.3404, + 0.3511, + 0.7611 + ], + "pour_controller_controller_target_position": [ + 0.3404, + 0.3511, + 0.7611 + ], + "pour_controller_controller_target_minus_raw_target": [ + 0.0, + -0.0, + -0.0 + ], + "pour_controller_lock_target_position": true, + "pour_controller_pour_target_offset": null, + "pour_controller_pour_pose_offset": [ + -0.0, + 0.0007, + -0.0003 + ], + "pour_controller_controller_last_pour_pose_position": [ + 0.3404, + 0.3264, + 1.0262 + ], + "pour_controller_controller_event": 6, + "pour_controller_controller_t": 0.0, + "pour_controller_source_size": [ + 0.0677, + 0.0652, + 0.0934 + ], + "pour_controller_height_range_1": [ + 0.3, + 0.4 + ], + "pour_controller_height_range_2": [ + 0.2, + 0.2 + ], + "pour_controller_tilt_strategy": "wrist_velocity", + "pour_controller_tilt_axis_world": null, + "pour_controller_resolved_tilt_axis_world": null, + "pour_controller_wrist_dof_index": 5, + "pour_controller_wrist_joint_name": "wrist_3_joint", + "pour_controller_motion_plan": { + "source_name": "beaker", + "wrist_dof_index": 5, + "tilt_strategy": "wrist_velocity", + "tilt_axis": [ + 1.0, + 0.0, + 0.0 + ], + "tilt_angle_deg": null, + "tilt_axis_frame": "end_effector", + "pour_speed_rad_s": -1.5, + "approach_height_range_m": [ + 0.3, + 0.4 + ], + "pour_height_range_m": [ + 0.2, + 0.2 + ], + "position_threshold_m": 0.015, + "tilt_position_threshold_m": 0.04, + "approach_xy_threshold_m": 0.08, + "pour_pose_offset_m": [ + -1.5727039253963897e-05, + 0.0007232933898827449, + -0.00031567688509177307 + ], + "use_preinterpolated_cartesian_targets": false + }, + "pour_controller_source_pose_feedback": true, + "pour_controller_source_pose_feedback_error": null, + "pour_controller_source_pose_held_object": "beaker_b", + "pour_controller_source_return_upright_error_deg": 2.5833704752953337, + "pour_controller_source_return_step_error_deg": 2.1557583309279322, + "pour_controller_source_return_stable_frames": 5, + "pour_controller_source_return_effective_target_deg": 8.0, + "pour_controller_source_return_best_error_deg": 2.5908761611775843, + "pour_controller_source_return_best_wrist_position": -1.61251962184906, + "pour_controller_source_return_recovering": false, + "pour_controller_wrist_compensated_return_position": -1.61251962184906, + "valid_pour_pose": false, + "valid_pour_pose_failed_keys": [ + "source_not_tilted" + ], + "valid_pour_xy_dist": 0.03578190276479489, + "valid_pour_held_xy_dist": 0.030677907332284683, + "valid_pour_held_gripper_dist": 0.0072221910108180055, + "valid_pour_required_height": 0.7911063292008318, + "valid_pour_held_z": 1.0133983361111591, + "valid_pour_source_tilt_deg": 2.155744929663273, + "valid_pour_source_upright_tilt_deg": 2.5833540911927346, + "valid_pour_source_upright_axis_sign": 1.0, + "valid_pour_uses_end_effector_tilt_evidence": false, + "valid_pour_end_effector_tilt_deg": null, + "valid_pour_source_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "valid_pour_target_xy_drift": 5.960464477539063e-08, + "valid_pour_target_tilt_deg": 0.0, + "valid_pour_held_grasp_ok": true, + "valid_pour_held_grasp_failed_keys": [], + "valid_pour_held_grasp_geometry_checked": true, + "valid_pour_held_grasp_geometry_required": true, + "valid_pour_held_grasp_source": "active_contact_pad_positions", + "valid_pour_held_grasp_finger_a": [ + 0.3379807200482414, + 0.2969479420075337, + 1.0133983361111591 + ], + "valid_pour_held_grasp_finger_b": [ + 0.32670054222289113, + 0.3205034264507079, + 1.0133983361111591 + ], + "valid_pour_held_grasp_midpoint": [ + 0.3323406311355663, + 0.30872568422912083, + 1.0133983361111591 + ], + "valid_pour_held_grasp_object_position": [ + 0.3379807200482414, + 0.3205034264507079, + 1.0133983361111591 + ], + "valid_pour_held_grasp_finger_gap": 0.02611710663768376, + "valid_pour_held_grasp_max_gap": 0.1249237185716629, + "valid_pour_held_grasp_geometry_frame": "object_local", + "valid_pour_held_grasp_size_source": "beaker_b_local_size", + "valid_pour_held_grasp_z_skew": 0.02381930082596236, + "valid_pour_held_grasp_world_z_skew": 0.0, + "valid_pour_held_grasp_z_skew_max": 0.08, + "valid_pour_held_grasp_z_skew_frame": "object_local_up", + "valid_pour_held_grasp_local_up_axis": [ + 0.02550983094947548, + -0.9989837166510296, + 0.03715888037905435 + ], + "valid_pour_held_grasp_object_projection_between_fingers": 0.5, + "valid_pour_held_grasp_object_to_finger_line_xy": 0.005954609287917756, + "valid_pour_held_grasp_line_xy_max_dist": 0.04746185928583145, + "valid_pour_held_grasp_object_top_z": 0.045200224965810776, + "valid_pour_held_grasp_top_clearance": 0.033578329982234305, + "valid_pour_held_grasp_min_top_clearance": 0.013560067489743232, + "held_grasp_geometry_checked": true, + "held_grasp_geometry_required": true, + "held_grasp_source": "active_contact_pad_positions", + "held_grasp_finger_a": [ + 0.3379807200482414, + 0.2969479420075337, + 1.0133983361111591 + ], + "held_grasp_finger_b": [ + 0.32670054222289113, + 0.3205034264507079, + 1.0133983361111591 + ], + "held_grasp_midpoint": [ + 0.3323406311355663, + 0.30872568422912083, + 1.0133983361111591 + ], + "held_grasp_object_position": [ + 0.3379807200482414, + 0.3205034264507079, + 1.0133983361111591 + ], + "held_grasp_finger_gap": 0.02611710663768376, + "held_grasp_max_gap": 0.1249237185716629, + "held_grasp_geometry_frame": "object_local", + "held_grasp_size_source": "beaker_b_local_size", + "held_grasp_z_skew": 0.02381930082596236, + "held_grasp_world_z_skew": 0.0, + "held_grasp_z_skew_max": 0.08, + "held_grasp_z_skew_frame": "object_local_up", + "held_grasp_local_up_axis": [ + 0.02550983094947548, + -0.9989837166510296, + 0.03715888037905435 + ], + "held_grasp_object_projection_between_fingers": 0.5, + "held_grasp_object_to_finger_line_xy": 0.005954609287917756, + "held_grasp_line_xy_max_dist": 0.04746185928583145, + "held_grasp_object_top_z": 0.045200224965810776, + "held_grasp_top_clearance": 0.033578329982234305, + "held_grasp_min_top_clearance": 0.013560067489743232, + "liquid_check_enabled": false, + "liquid_source": "beaker_b", + "liquid_target": "beaker_a" + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pour", + "target_object": "beaker_a", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_a", + "beaker_b" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/target_beaker/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pour", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 2, + "skill": "place", + "target": "beaker_b", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "beaker_b", + "passed": true, + "metrics": { + "held": "beaker_b", + "target": "beaker_b", + "object_position": [ + 0.1930656531836388, + -0.032706853087264044, + 0.7565862702103627 + ], + "target_position": [ + 0.17864149176200259, + -0.03352297608662856, + 0.7730800627579277 + ], + "target_position_source": "target_key:beaker_b_initial_position", + "xy_dist": 0.014447231204196543, + "xy_threshold": 0.08, + "gripper_dist": 0.2245667208887645, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.7565862702103627, + "min_z": 0.5730800627579278, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07527184829464856, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08949895569084819, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.195346737341688, + "release_required_pad_clearance": 0.0547494778454241, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.8730800627579277, + "max_z_margin": 0.1, + "object_tilt_deg": 4.548688594391819, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 255, + "max_placed_release_frames": 255 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "beaker_b", + "held_object": "beaker_b", + "allowed_objects": [ + "beaker_b" + ], + "allowed_object_paths": [ + "/World/target_beaker" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "beaker_b", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 3, + "skill": "pick", + "target": "beaker_a", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PickSuccessChecker", + "skill": "pick", + "target": "beaker_a", + "passed": true, + "metrics": { + "target": "beaker_a", + "active_arm": null, + "object_position": [ + 0.349204332990911, + 0.34825398857591655, + 1.161959983128583 + ], + "current_z": 1.161959983128583, + "required_z": 0.8611063292008317, + "initial_z": 0.7611063292008318, + "lift_margin": 0.3008536539277512, + "gripper_z": 1.1509633241080417, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "gripper_position": [ + 0.3444419353678021, + 0.34347594007777377, + 1.1509633241080417 + ], + "object_minus_gripper": [ + 0.004762397623108927, + 0.004778048498142784, + 0.010996659020541255 + ], + "object_to_gripper_xy": 0.006746123225319715, + "object_to_gripper_z": 0.010996659020541255, + "fingertip_source": "active_contact_pad_positions", + "finger_a": [ + 0.349204332990911, + 0.32439340613876755, + 1.161959983128583 + ], + "finger_b": [ + 0.33833582154797315, + 0.34825398857591655, + 1.161959983128583 + ], + "finger_midpoint": [ + 0.3437700772694421, + 0.336323697357342, + 1.161959983128583 + ], + "object_minus_finger_midpoint": [ + 0.005434255721468939, + 0.011930291218574529, + 0.0 + ], + "finger_gap": 0.026219304628941918, + "fingertip_max_gap": 0.09019081725540187, + "finger_z_skew": 0.0, + "fingertip_z_skew_max": 0.035, + "object_to_finger_midpoint_xy": 0.013109652314470983, + "object_to_finger_midpoint_z": 0.0, + "finger_midpoint_minus_object_z": 0.0, + "object_position_origin": "center", + "object_center_z_for_grasp": 1.161959983128583, + "object_top_z": 1.211718788172858, + "finger_top_clearance": 0.04975880504427499, + "fingertip_min_top_clearance": 0.014927641513282464, + "object_projection_between_fingers": 0.828170472825033, + "object_to_finger_line_xy": 0.009890766247364888, + "fingertip_xy_max_dist": 0.055, + "fingertip_z_max_dist": 0.1, + "fingertip_line_xy_max_dist": 0.04759540862770094, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "object_tilt_deg": 0.172977157212249, + "object_max_tilt_deg": 15.0, + "object_upright_axis_local": [ + 0.0, + 0.0, + 1.0 + ], + "stable_success_frames": 372, + "max_stable_success_frames": 372, + "required_stable_lift_frames": 5 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "pick", + "target_object": "beaker_a", + "held_object": null, + "allowed_objects": [ + "beaker_a" + ], + "allowed_object_paths": [ + "/World/beaker_2" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [ + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/right_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + }, + { + "a": "/World/UR5e/Robotiq2F85/Robotiq_2F_85/left_inner_finger/visuals/Defeatured_2F_85_PAD_OPEN_fingertipsstep_01/Defeatured_2F_85_PAD_OPEN_fingertipsstep", + "b": "/World/beaker_2/mesh" + } + ], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "pick", + "target": "beaker_a", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 4, + "skill": "place", + "target": "heater_platform", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PlaceSuccessChecker", + "skill": "place", + "target": "heater_platform", + "passed": true, + "metrics": { + "held": "beaker_a", + "target": "heater_platform", + "object_position": [ + 0.3284245590920724, + -0.3708678306313445, + 0.851539571274457 + ], + "target_position": [ + 0.3229125645839593, + -0.3712942829147536, + 0.8084375599031817 + ], + "target_position_source": "target_object:_xform_position", + "xy_dist": 0.005528466786324587, + "xy_threshold": 0.08, + "gripper_dist": 0.18271261144947107, + "gripper_away_threshold": 0.04, + "gripper_away_ok": true, + "object_z": 0.851539571274457, + "min_z": 0.5774145980897916, + "min_z_margin": 0.2, + "require_object_upright": true, + "object_upright_reference_source": "scene_initial", + "release_fingertip_source": "active_contact_pad_positions", + "release_finger_gap": 0.07546071688468484, + "release_finger_gap_metric": "3d_contact_pad_distance", + "release_fingertip_min_gap": 0.08583823530563327, + "release_gap_margin": 0.02, + "release_gap_missing_size": false, + "release_min_pad_clearance": 0.1509237700796691, + "release_required_pad_clearance": 0.052919117652816636, + "release_pad_clearance_ok": true, + "release_gap_ok": false, + "force_virtual_attach": false, + "virtual_attach_allowed": false, + "max_z": 0.9084375599031816, + "max_z_margin": 0.1, + "object_tilt_deg": 0.8766969246690798, + "object_max_tilt_deg": 12.0, + "object_axis_flip_tolerance_deg": 3.0, + "object_upright_axis_local": null, + "required_placed_release_frames": 2, + "placed_release_frames": 149, + "max_placed_release_frames": 149 + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "place", + "target_object": "heater_platform", + "held_object": "beaker_a", + "allowed_objects": [ + "beaker_a", + "heater_platform" + ], + "allowed_object_paths": [ + "/World/beaker_2", + "/World/heat_device/heat_device/heat_device/plat" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "place", + "target": "heater_platform", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + }, + { + "step_index": 5, + "skill": "press", + "target": "heat_button", + "success": true, + "reason": "executed", + "debug": { + "arm": null, + "checker": { + "checker": "PressSuccessChecker", + "skill": "press", + "target": "heat_button", + "passed": true, + "metrics": { + "target": "heat_button", + "z_decrease": 0.008408129215240479, + "max_z_decrease": 0.008408129215240479, + "final_z_decrease": 0.0, + "z_decrease_threshold": 0.0003, + "min_ee_to_button": 0.03504804333166068, + "contact_distance_threshold": 0.08, + "ee_contact_ok": true, + "max_z_decrease_with_ee_contact": 0.008408129215240479, + "ee_contacted_z_ok": true, + "physical_press_ok": true, + "required_contacted_press_frames": 2, + "contacted_z_stable_frames": 0, + "max_contacted_z_stable_frames": 78, + "contact_point_distance": 0.021093358380808502, + "contact_point_source": "active_contact_pad_positions", + "contact_point_distance_threshold": 0.04, + "contact_point_seen_ok": true, + "contact_point_ok": true, + "contact_point_stable_frames": 0, + "max_contact_point_stable_frames": 120, + "max_z_decrease_with_contact_point": 0.008408129215240479, + "contact_point_contacted_z_ok": true, + "contact_point_contacted_z_stable_frames": 0, + "max_contact_point_contacted_z_stable_frames": 78, + "contact_ok": true, + "button_final_displacement": 0.0, + "button_max_displacement": 0.008408349661715404, + "max_button_displacement": 0.12, + "button_start": [ + 0.17861248552799222, + -0.42755573987960815, + 0.7768088579177856 + ], + "button_final": [ + 0.17861248552799222, + -0.42755573987960815, + 0.7768088579177856 + ], + "closest_ee": [ + 0.17931372995682401, + -0.4259053219975655, + 0.8049892590500295 + ], + "closest_button": [ + 0.17856469750404358, + -0.42755720019340515, + 0.7699881792068481 + ], + "closest_ee_minus_button": [ + 0.0007490324527804348, + 0.0016518781958396733, + 0.03500107984318135 + ], + "button_min_z_position": [ + 0.1785522997379303, + -0.4275465309619903, + 0.7684007287025452 + ], + "min_active_finger_to_button": 0.1446154560504594, + "closest_active_finger": [ + 0.0516447052359581, + -0.48747479915618896, + 0.8095097541809082 + ], + "closest_active_finger_button": [ + 0.1786261200904846, + -0.4275631010532379, + 0.7748696208000183 + ], + "closest_active_finger_index": 1, + "closest_active_finger_minus_button": [ + -0.1269814148545265, + -0.05991169810295105, + 0.03464013338088989 + ], + "min_contact_pad_to_button": 0.021093358380808502, + "closest_contact_pad": [ + 0.1785522997379303, + -0.4275465309619903, + 0.7894940870833537 + ], + "closest_contact_pad_button": [ + 0.1785522997379303, + -0.4275465309619903, + 0.7684007287025452 + ], + "closest_contact_pad_index": 0, + "closest_contact_pad_minus_button": [ + 0.0, + 0.0, + 0.021093358380808502 + ] + }, + "failed_keys": [], + "failure_code": null, + "failure_messages": {}, + "safety": { + "policy": { + "skill": "press", + "target_object": "heat_button", + "held_object": null, + "allowed_objects": [ + "heat_button" + ], + "allowed_object_paths": [ + "/World/heat_device/button" + ], + "allowed_prim_substrings": [], + "robot_prim_substrings": [ + "Robotiq2F85", + "Robotiq_2F_85", + "contact_sensor", + "dummy_base_prismatic_x_joint", + "dummy_base_prismatic_y_joint", + "dummy_base_revolute_z_joint", + "elbow_joint", + "festo", + "finger", + "fr3", + "fr3_duo_mobile", + "fr3_joint1", + "fr3_joint2", + "fr3_joint3", + "fr3_joint4", + "fr3_joint5", + "fr3_joint6", + "fr3_joint7", + "fr3_leftfinger", + "fr3_rightfinger", + "franka", + "geometry", + "gripper", + "gripper_center", + "joint1", + "joint2", + "joint3", + "joint4", + "joint5", + "joint6", + "joint7", + "left_inner_finger", + "lift2", + "mobile_rotate", + "mobile_translate_x", + "mobile_translate_y", + "panda_joint1", + "panda_joint2", + "panda_joint3", + "panda_joint4", + "panda_joint5", + "panda_joint6", + "panda_joint7", + "panda_leftfinger", + "panda_leftfingertip", + "panda_rightfinger", + "panda_rightfingertip", + "ridgebase", + "ridgebase_festo", + "ridgebase_fr3", + "ridgebase_rizon4", + "ridgebase_ur16e", + "ridgebase_ur5e", + "right_inner_finger", + "rizon4", + "robot", + "robotiq_2f85", + "shoulder_lift_joint", + "shoulder_pan_joint", + "split_aloha", + "tool_center", + "ur16e", + "ur5e", + "visuals", + "wrist", + "wrist_1_joint", + "wrist_2_joint", + "wrist_3_joint" + ], + "ignored_prim_substrings": [ + "base_link", + "caster", + "defaultgroundplane", + "desk", + "floor", + "ground", + "groundplane", + "link0", + "table", + "wheel", + "workbench" + ], + "enabled": true + }, + "status": "active", + "passed": true, + "source_missing": false, + "forbidden": [], + "disturbances": [], + "last_frame": { + "passed": true, + "source_missing": false, + "forbidden": [], + "allowed": [], + "ignored": [], + "failed_keys": [] + }, + "failed_keys": [] + } + }, + "gripper": null, + "post_done_wait_frames": 0, + "post_done_wait_exhausted": false + }, + "physical_semantics": { + "skill": "press", + "target": "heat_button", + "attach_used": false, + "attach_object": null, + "attach_object_path": null, + "attach_allowed": false, + "ordinary_object_physical_only": true + } + } + ], + "physical_semantics": { + "attach_records": [], + "ordinary_attach_violations": [], + "forbidden_shortcuts_absent": true + }, + "h5_episode_index": 91, + "reproducibility": { + "enabled": true, + "action_seed": 2795588802749883146, + "physical_seed": 2289185594570977662, + "layout_id": "layout_00033", + "step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "workflow_spec_digest": "de9b8abde9e1f6fd51918e4d1767bf39afe08d37236981960b5a4c0d1919c01f", + "strict_task_state": false, + "allow_physical_randomization": true, + "seed_source": "workflow.reproducibility", + "task_island_state_digest": "3375b773fac7c92f962dec262f5a1fc321e4dcc97e7bd00012e6c3bb478387e1", + "visual_seed": 4270528597388633606, + "episode_index": 91, + "physical_randomization_enabled": true, + "motion_controller_type": "ik_servo", + "runtime_step_seeds": [ + 6816342363077730166, + 4358494381448953216, + 412513956277572572, + 5816647056012353206, + 7886615218741371022, + 6882756593071824614 + ], + "runtime_workflow_digest": "f66d3feb802afa7c91f896ff32303249ef2bf5e8e2148823b2f46c86023b994d" + } +} \ No newline at end of file